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 language | English |
|---|---|
| Pages | 1663-1668 |
| Number of pages | 6 |
| Publication status | Published - Dec 1 1999 |
| Event | 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 Duration: Oct 17 1999 → Oct 21 1999 |
Other
| Other | 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99): Human and Environment Friendly Robots whith High Intelligence and Emotional Quotients' |
|---|---|
| City | Kyongju, South Korea |
| Period | 10/17/99 → 10/21/99 |
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All Science Journal Classification (ASJC) codes
- Control and Systems Engineering
- Software
- Computer Vision and Pattern Recognition
- Computer Science Applications
Cite this
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 conference › Paper
}
TY - CONF
T1 - Near-optimal trajectory planning for nonholonomic caplygin systems
AU - Iwamura, Makoto
AU - Yamamoto, Motoji
AU - Mohri, Akira
PY - 1999/12/1
Y1 - 1999/12/1
N2 - 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.
AB - 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.
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M3 - Paper
AN - SCOPUS:0033313224
SP - 1663
EP - 1668
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