Steering for a class of dynamic nonholonomic systems

Author

Ostrowski, Jim

Author_Institution

Pennsylvania Univ., Philadelphia, PA, USA

Volume

45

Issue

8

fYear

2000

fDate

8/1/2000 12:00:00 AM

Firstpage

1492

Lastpage

1498

Abstract

We derive control algorithms for a class of dynamic nonholonomic steering problems, characterized as mechanical systems with nonholonomic constraints and symmetries. We use a simplified geometric framework in developing two types of control algorithms for such systems. The first targets local configuration controllability, using a perturbation approach to establish results similar to steering using sinusoids. The second method builds on this approach by utilizing kinematic steering algorithms for mobile robots in generating more nonlocal motion plans for this class of systems

Keywords

Lie groups; controllability; mobile robots; nonlinear control systems; path planning; symmetry; dynamic nonholonomic systems; kinematic steering algorithms; local configuration controllability; mechanical systems; nonholonomic constraints; nonlocal motion plans; perturbation approach; simplified geometric framework; symmetries; Control nonlinearities; Control systems; Controllability; Kinematics; Lagrangian functions; Mechanical systems; Mobile robots; Nonlinear control systems; Open loop systems; Vehicle dynamics;

fLanguage

English

Journal_Title

Automatic Control, IEEE Transactions on

Publisher

ieee

ISSN

0018-9286

Type

jour

DOI

10.1109/9.871757

Filename

871757