Title :
Optimal Control of Nonholonomic Motion Planning for a Free-Falling Cat
Author :
Ge, Xin-Sheng ; Zhang, Qi-Zhi
Author_Institution :
Basic Sci. Courses Dept., Beijing Inst. of Machinery
fDate :
Aug. 30 2006-Sept. 1 2006
Abstract :
The nonholonomic motion planning of a free-falling cat is investigated. Nonholonomicity arises in a free-falling cat subject to nonintegrable angle velocity constraints or nonintegrable conservation laws. When the total angular momentum is zero, the motion equation of a free-falling cat is established based on the model of two symmetric rigid bodies and conservation of angular momentum. The control of system can be converted to the problem of nonholonomic motion planning for a free-falling cat. Based on Ritz approximation theory, the Gauss-Newton method for motion planning by a falling cat is proposed. The effectiveness of the numerical algorithm is demonstrated through simulation on model of a falling cat
Keywords :
Newton method; angular momentum; approximation theory; biomechanics; conservation laws; motion control; optimal control; path planning; Gauss-Newton method; Ritz approximation theory; angular momentum conservation; free-falling cat; nonholonomic motion planning; nonintegrable angle velocity constraints; nonintegrable conservation laws; optimal control; symmetric rigid bodies; Approximation methods; Control systems; Gaussian approximation; Machinery; Motion control; Nonlinear equations; Optimal control; Physiology; Spinning; Tail;
Conference_Titel :
Innovative Computing, Information and Control, 2006. ICICIC '06. First International Conference on
Conference_Location :
Beijing
Print_ISBN :
0-7695-2616-0
DOI :
10.1109/ICICIC.2006.324
