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
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;
Journal_Title :
Robotics, IEEE Transactions on
DOI :
10.1109/TRO.2010.2053733
