• DocumentCode
    1257618
  • Title

    A Motion-Planning Algorithm for the Rolling-Body Problem

  • Author

    Alouges, François ; Chitour, Yacine ; Long, Ruixing

  • Author_Institution
    Dept. of Appl. Math., Ecole Polytech., Palaiseau, France
  • Volume
    26
  • Issue
    5
  • fYear
    2010
  • Firstpage
    827
  • Lastpage
    836
  • Abstract
    In this paper, we consider the control system defined by the rolling of a strictly convex surface S of IR3 on a plane without slipping or spinning. The purpose of this paper is to present the numerical implementation of a constructive planning algorithm for Σ, which is based on a continuation method. The performances of that algorithm, both in robustness and convergence speed, are illustrated through several examples.
  • Keywords
    manipulators; path planning; constructive planning algorithm; continuation method; convergence speed; motion planning algorithm; numerical implementation; rolling body problem; strictly convex surface rolling; Aerospace electronics; Algorithm design and analysis; Control systems; Controllability; Convergence; Equations; Manifolds; Manipulators; Motion planning; Motion-planning; Planning; Robots; Robustness; Spinning; Trajectory; Manipulation planning; nonholonomic motion planning;
  • fLanguage
    English
  • Journal_Title
    Robotics, IEEE Transactions on
  • Publisher
    ieee
  • ISSN
    1552-3098
  • Type

    jour

  • DOI
    10.1109/TRO.2010.2053733
  • Filename
    5524016
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=1257618