Near-optimal trajectory planning for nonholonomic caplygin systems

Makoto Iwamura, Motoji Yamamoto, Akira Mohri

研究成果: Contribution to conferencePaper査読

1 被引用数 (Scopus)

抄録

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.

本文言語英語
ページ1663-1668
ページ数6
出版ステータス出版済み - 12 1 1999
イベント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
継続期間: 10 17 199910 21 1999

その他

その他1999 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

All Science Journal Classification (ASJC) codes

  • 制御およびシステム工学
  • ソフトウェア
  • コンピュータ ビジョンおよびパターン認識
  • コンピュータ サイエンスの応用

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