Abstract
This paper addresses the motion planning problem of nonholonomic robotic systems. The system’s kinematics are described by a driftless control system with output. It is assumed that the control functions are represented in a parametric form, as truncated orthogonal series. A new motion planning algorithm is proposed based on the solution of a Lagrange-type optimisation problem stated in the linear approximation of the parametrised system. Performance of the algorithm is illustrated by numeric computations for a motion planning problem of the rolling ball.
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This research was supported by the National Science Centre, Poland, under grant decision No DEC-2013/09/B/ST7/02368.
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Góral, I., Tchoń, K. Lagrangian Jacobian Motion Planning: A Parametric Approach. J Intell Robot Syst 85, 511–522 (2017). https://doi.org/10.1007/s10846-016-0394-4
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DOI: https://doi.org/10.1007/s10846-016-0394-4