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
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;
Conference_Titel :
Robot Motion and Control, 2005. RoMoCo '05. Proceedings of the Fifth International Workshop on
Print_ISBN :
83-7143-266-6
DOI :
10.1109/ROMOCO.2005.201405
