• DocumentCode
    3783823
  • Title

    Energy-efficient Newton-based nonholonomic motion planning

  • Author

    I. Duleba;J.Z. Sasiadek

  • Author_Institution
    Inst. of Eng. Cybern., Wroclaw Univ. of Technol., Poland
  • Volume
    3
  • fYear
    2001
  • fDate
    6/23/1905 12:00:00 AM
  • Firstpage
    1859
  • Abstract
    A modification of the Newton algorithm applied to nonholonomic motion planning is presented. The energy optimization is performed by optimizing motion in the null space of the Jacobian matrix derived from the nonholonomic system. Resulting controls are smooth and easy to generate for motors or thrusters. The method can be used to steer free-floating objects as well as mobile robots.
  • Keywords
    "Energy efficiency","Kinematics","Iterative algorithms","Jacobian matrices","Mobile robots","Control systems","Technology planning","Null space","Motion control","Trajectory"
  • Publisher
    ieee
  • Conference_Titel
    American Control Conference, 2001. Proceedings of the 2001
  • ISSN
    0743-1619
  • Print_ISBN
    0-7803-6495-3
  • Type

    conf

  • DOI
    10.1109/ACC.2001.946007
  • Filename
    946007
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=3783823