A nonholonomic motion planning and control based on chained form transformation

IEEE International Conference on Intelligent Robots and Systems

Volumn , Issue , 2006, Pages 3149-3153

  Tan, Yuegang ^a   Jiang, Ziqing ^a   Zhou, Zude ^a  

^a WUHAN UNIVERSITY OF TECHNOLOGY   (China)

Author keywords

Chained form transformation; Nonholonomic motion planning; Nonholonomic robot; Nonlinear control

Indexed keywords

COMPUTER SIMULATION; ENGINEERING RESEARCH; MATHEMATICAL TRANSFORMATIONS; MOTION CONTROL; MOTION PLANNING; UNIVERSAL JOINTS;

CHAINED FORM SYSTEMS; MULTI JOINT MANIPULATORS; NONHOLONOMIC SYSTEMS;

MANIPULATORS;

EID: 34250626364     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IROS.2006.282337     Document Type: Conference Paper

References (10)

1. Murray.R.M, Li.Z.X and Sastry.S.S: A Mathematical Introduction to Robotic Manipulation. By CRC Press, 1994.
2. Y. Nakamura: An Overview of Nonholonomic Mechanical Systems Research. Journal of the Society of Instrument and Control Engineers, 1997, 36(6): 384-389.
3. Lafferriere.G and Sussmann.H.J: Motion planning for controllable systems without drift. Proceedings of IEEE International Conference on Robotics and Automation, Sacramento, California, April 1991:1148-1153.
4. Sussmann.H.J and Liu.W: Limits of highly oscillatory controls and the approximation of general paths by admissible trajectories. Proceedings of IEEE 30th Conference on Decision and Control, Brighton, England, December 1991:437-442.
5. Bushnell.L.G, Tilbury.D and Sastry.S.S: Steering three-input chained form nonholonomic systems using sinusoids: the fire truck example. Proceedings of the European Control Conference, 1993:1432-1437.
6. Walsh.G.C and Bushnell.L.G: Stabilization of multiple input chained form control systems. Systems and Control Letters, 1995, 25(2):227-234.
7. Mini Special Issue: Control of Nonholonomic Systems. Journal of the Society of Instrument and Control Engineers. 1997, Vol.36, No.6.
8. Murry.R.M and Sastry.S.S: Nonholonomic motion planning: Steering using sinusoids. IEEE Transaction on Automatic Control, 1993, 38(5):700-716.
9. Murray.R.M and Sastry.S.S: Steering nonholonomic systems in chained form. Proceedins of Conference on Decision and Control, Brighton, England, 1991:1121-1126.
10. SØrdalen.O.J.S: Conversation of the kinematics of a car with n trailers into a chained form. IEEE International Conference on Robotics and Automation, Atlanta, Georgia, May 1993:382-387.