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Polynomial motion of non‐holonomic mechanical systems of chained form
Author(s) -
Xu W. L.,
Ma B. L.
Publication year - 1999
Publication title -
mathematical methods in the applied sciences
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.719
H-Index - 65
eISSN - 1099-1476
pISSN - 0170-4214
DOI - 10.1002/(sici)1099-1476(19990910)22:13<1153::aid-mma76>3.0.co;2-0
Subject(s) - holonomic , motion planning , mathematics , path (computing) , holonomic constraints , motion (physics) , point (geometry) , state (computer science) , simple (philosophy) , polynomial , set (abstract data type) , control theory (sociology) , chain (unit) , mathematical optimization , frame (networking) , computer science , algorithm , control (management) , robot , geometry , artificial intelligence , mathematical analysis , telecommunications , philosophy , physics , epistemology , classical mechanics , astronomy , programming language
In this study a simple general motion planning approach for non‐holonomic mechanical systems of chained form is proposed, in which the intricate motion planning problem (steering the system from an initial state to a final state) is converted to a simple curve‐fitting problem (satisfying a set of end‐point conditions). By means of this approach, other geometric constraints, such as passing a channel and avoiding collision with obstacles, and minimizing some cost functions, such as the minimum path length, can be easily handled, while the control inputs can be derived directly from the smooth path planned. For verifying the effectiveness of the proposed approach, a number of simulations are conducted for various task require ments and environments, with respect to a four‐wheel mobile chart (one‐chain system) and a three‐input firetruck (two‐chain system). Copyright © 1999 John Wiley & Sons, Ltd.