Details

Title

Impact of control representations on efficiency of local nonholonomic motion planning

Journal title

Bulletin of the Polish Academy of Sciences: Technical Sciences

Yearbook

2011

Numer

No 2 June

Publication authors

Divisions of PAS

Nauki Techniczne

Publisher

Polish Academy of Sciences

Date

2011

Identifier

ISSN 0239-7528, eISSN 2300-1917

References

Szrek J. (2010), Idea of wheel-legged robot and its control system, Bull. Pol. Ac.: Tech, 58, 1, 43. ; Duleba I. (1998), Algorithms of Motion Planning for Nonholonomic Robots. ; Reister D. (1991), Time-optimal trajectories for mobile robots with two independently driven wheels, Int. J. Robotics Research, 13, 1, 38, doi.org/10.1177/027836499401300103 ; Fernandez C. (1991), A variational approach to optimal nonholonomic motion planning, Proc. IEEE Conf. Robotics and Automat, 1, 680, doi.org/10.1109/ROBOT.1991.131662 ; LaValle S. (2006), Planning Algorithms, doi.org/10.1017/CBO9780511546877 ; Zieliński C. (2010), General specification of multi-robot control system structures, Bull. Pol. Ac.: Tech, 58, 1, 15. ; Tchon K. (2003), Endogenous configuration space approach to mobile manipulators: a derivation and performance assessment of jacobian inverse kinematics algorithms, Int. J. Control, 26, 14, 1387, doi.org/10.1080/0020717031000149942 ; Serre J-P. (1964), Lie Algebras and Lie Groups. ; Chow W. (1939), Über Systeme von linearen partiellen Differentialgleichungen erster Ordnung, Math. Annallen, 117, 1, 98, doi.org/10.1007/BF01450011 ; Strichartz R. (1987), The Campbell-Baker-Hausdorff-Dynkin formula and solutions of differential equations, J. Funct. Analysis, 72, 2, 320, doi.org/10.1016/0022-1236(87)90091-7 ; Duleba I. (2006), Pre-control form of the generalized Campbell-Baker-Hausdorff-Dynkin formula for affine nonholonomic systems, Systems & Control Letters, 55, 2, 146, doi.org/10.1016/j.sysconle.2005.06.006 ; Spong M. (1989), Robot Dynamics and Control. ; Belaiche A. (1993), Geometry of nonholonomic systems, Robot Motion Planning and Control, Lecture Notes in Control and Information Sciences, 229, 55, doi.org/10.1007/BFb0036071 ; Bertsekas D. (1999), Constrained Optimization and Lagrange Multiplier Methods. ; Nakamura Y. (1991), Advanced Robotics: Redundancy and Optimization.

DOI

10.2478/v10175-011-0026-x

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