Title :
Bases comparison in control space of nonholonomic systems
Author_Institution :
Inst. of Eng. Cybern., Wroclaw Univ. of Technol., Poland
Abstract :
In this paper, bases in the space of controls are evaluated for driftless nonholonomic systems. As a tool of the evaluation, the pre-control form of the generalized Campbell-Baker-Hausdorff-Dynkin formula is used. It appears that harmonic, Fourier basis is the best among the two other tested bases: polynomial (Legendre) basis and the simplest wavelet basis - the Haar basis. An impact of bases on motion planning for nonholonomic robots is explained.
Keywords :
Fourier analysis; Haar transforms; Legendre polynomials; path planning; robots; Campbell-Baker-Hausdorff-Dynkin formula; Haar basis; Legendre polynomial; control space; driftless nonholonomic systems; harmonic Fourier basis; motion planning; Control systems; Cybernetics; Motion control; Motion planning; Orbital robotics; Polynomials; Robot motion; Space technology; Testing; Underwater vehicles;
Conference_Titel :
Robot Motion and Control, 2004. RoMoCo'04. Proceedings of the Fourth International Workshop on
Print_ISBN :
83-7143-272-0
DOI :
10.1109/ROMOCO.2004.240577
