• DocumentCode
    2109336
  • Title

    A continuation method for nonholonomic path-finding problems

  • Author

    Sussmann, Héctor

  • Author_Institution
    Dept. of Math., Rutgers Univ., New Brunswick, NJ, USA
  • fYear
    1993
  • fDate
    15-17 Dec 1993
  • Firstpage
    2718
  • Abstract
    We study the mathematical theory of an algorithm for nonholonomic point-to-point path finding, based on a “continuation” or “deformation” method, in which one starts with an admissible trajectory that goes from the desired initial point p¯ to some point q¯0, and then tries to construct a one-parameter family of trajectories, whose terminal points q¯s describe, as s varies, a path that joins q0 to the desired terminal point q¯
  • Keywords
    path planning; continuation method; deformation method; nonholonomic point-to-point path finding; one-parameter trajectory family; Differential equations; Mathematics; Nonlinear equations; Open loop systems; Page description languages; State-space methods; Trajectory;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Decision and Control, 1993., Proceedings of the 32nd IEEE Conference on
  • Conference_Location
    San Antonio, TX
  • Print_ISBN
    0-7803-1298-8
  • Type

    conf

  • DOI
    10.1109/CDC.1993.325689
  • Filename
    325689
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=2109336