Near-optimal trajectory planning for nonholonomic caplygin systems

Makoto Iwamura, Motoji Yamamoto, Akira Mohri

Research output: Contribution to conferencePaper

1 Citation (Scopus)

Abstract

This paper discusses the optimal trajectory planning problem of classical nonholonomic systems. Most of conventional studies have discussed the nonholonomic motion planning problem considering only kinematics. However, when a trajectory is required to minimize the traveling time or the energy used in performing tasks, the dynamics must be taken into consideration. In this paper, a trajectory planning method that considers the full nonlinear dynamics of the system is proposed. This method is based on the concept of geometric phase and MCTP algorithm which are previously developed for motion planning of robotic manipulators. Simulation results show the effectiveness of the proposed method.

Original languageEnglish
Pages1663-1668
Number of pages6
Publication statusPublished - Dec 1 1999
Event1999 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99): Human and Environment Friendly Robots whith High Intelligence and Emotional Quotients' - Kyongju, South Korea
Duration: Oct 17 1999Oct 21 1999

Other

Other1999 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99): Human and Environment Friendly Robots whith High Intelligence and Emotional Quotients'
CityKyongju, South Korea
Period10/17/9910/21/99

Fingerprint

Trajectories
Motion planning
Planning
Manipulators
Kinematics
Robotics

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

Cite this

Iwamura, M., Yamamoto, M., & Mohri, A. (1999). Near-optimal trajectory planning for nonholonomic caplygin systems. 1663-1668. Paper presented at 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99): Human and Environment Friendly Robots whith High Intelligence and Emotional Quotients', Kyongju, South Korea, .

Near-optimal trajectory planning for nonholonomic caplygin systems. / Iwamura, Makoto; Yamamoto, Motoji; Mohri, Akira.

1999. 1663-1668 Paper presented at 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99): Human and Environment Friendly Robots whith High Intelligence and Emotional Quotients', Kyongju, South Korea, .

Research output: Contribution to conferencePaper

Iwamura, M, Yamamoto, M & Mohri, A 1999, 'Near-optimal trajectory planning for nonholonomic caplygin systems', Paper presented at 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99): Human and Environment Friendly Robots whith High Intelligence and Emotional Quotients', Kyongju, South Korea, 10/17/99 - 10/21/99 pp. 1663-1668.
Iwamura M, Yamamoto M, Mohri A. Near-optimal trajectory planning for nonholonomic caplygin systems. 1999. Paper presented at 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99): Human and Environment Friendly Robots whith High Intelligence and Emotional Quotients', Kyongju, South Korea, .
Iwamura, Makoto ; Yamamoto, Motoji ; Mohri, Akira. / Near-optimal trajectory planning for nonholonomic caplygin systems. Paper presented at 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99): Human and Environment Friendly Robots whith High Intelligence and Emotional Quotients', Kyongju, South Korea, .6 p.
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