DocumentCode
424987
Title
Nonholonomic motion planning: steering using bang-bang control
Author
Sheng, Li ; Guoliang, Ma ; Qingwei, Chen ; Xiaobei, Wu ; Weili, Hu
Author_Institution
Dept. of Autom., Nanjing Univ. of Sci. & Technol., Jiangsu, China
Volume
5
fYear
2004
fDate
June 30 2004-July 2 2004
Firstpage
4653
Abstract
This paper studied the motion planning of nonholonomic systems. A method based on bang-bang control is proposed for n-dimensional chained form systems with two inputs in this paper. The method operates by switching between two kinds of inputs at time sequences to steer the system from initial configuration to an arbitrary final configuration. An algorithm is proposed to calculate time sequences of switching. At last, a numerical example and simulation results show the effectiveness of the proposed method.
Keywords
bang-bang control; motion control; numerical analysis; path planning; robots; bang-bang controls; motion planning; n-dimensional chained form systems; nonholonomic systems;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 2004. Proceedings of the 2004
Conference_Location
Boston, MA, USA
ISSN
0743-1619
Print_ISBN
0-7803-8335-4
Type
conf
Filename
1384045
Link To Document