Motion Planning for Kinematic Systems

Author

Boizot, Nicolas ; Gauthier, John

Author_Institution

Lab. des Sci. de l´Inf. et des Syst., Aix Marseille Univ., Marseille, France

Volume

58

Issue

6

fYear

2013

fDate

Jun-13

Firstpage

1430

Lastpage

1442

Abstract

In this paper, we present a general theory of motion planning for kinematic systems. In particular, the theory deals with ε-approximations of non-admissible paths by admissible ones in a certain optimal sense. The need for such an approximation arises for instance in the case of highly congested configuration spaces. This theory has been developed by one of the authors in a previous series of papers. It is based upon concepts from subriemannian geometry. Here, we summarize the results of the theory, and we improve on, by developing in details an intricate case: the ball with a trailer, which corresponds to a distribution with flag of type 2, 3, 5, 6.

Keywords

approximation theory; geometry; optimal control; path planning; robot kinematics; ε-approximation; congested configuration space; kinematic system; motion planning; nonadmissible path; optimal control; robotics; subRiemannian geometry; Approximation methods; Entropy; Kinematics; Measurement; Planning; Robots; Trajectory; Motion planning; optimal control; robotics; subriemannian geometry;

fLanguage

English

Journal_Title

Automatic Control, IEEE Transactions on

Publisher

ieee

ISSN

0018-9286

Type

jour

DOI

10.1109/TAC.2012.2232376

Filename

6376099