DocumentCode
2721224
Title
A Lie algebraic method of motion planning for driftless nonholonomic systems
Author
Duleba, I. ; Khefifi, W.
Author_Institution
Inst. of Eng. Cybern., Wroclaw Univ. of Technol., Poland
fYear
2005
fDate
23-25 June 2005
Firstpage
79
Lastpage
84
Abstract
In this paper a Lie algebraic method is proposed to steer driftless nonholonomic systems. It uses the special instance of the generalized Campbell-Baker-Hausdorff-Dynkin formula for driftless nonholonomic systems to establish a mapping between controls and a resulting direction of motion. Then, locally, a motion planning task is to find the inverse of this mapping. Usually, it can be supported by analytic computations.
Keywords
Lie algebras; inverse problems; motion control; path planning; Lie algebraic method; control mapping; driftless nonholonomic system steering; generalized Campbell-Baker-Hausdorff-Dynkin formula; mapping inverse; motion direction; motion planning; Control systems; Cybernetics; Kinematics; Mobile robots; Motion analysis; Motion control; Motion planning; Orbital robotics; State-space methods; Trajectory;
fLanguage
English
Publisher
ieee
Conference_Titel
Robot Motion and Control, 2005. RoMoCo '05. Proceedings of the Fifth International Workshop on
Print_ISBN
83-7143-266-6
Type
conf
DOI
10.1109/ROMOCO.2005.201405
Filename
1554384
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