Motion representations for the Lafferriere-Sussmann algorithm for nilpotent control systems

• Autorzy: Dulęba I. , Jagodziński J.
• Języki publikacji: EN

Abstrakty

EN

In this paper, an extension of the Lafferriere-Sussmann algorithm of motion planning for driftless nilpotent control systems is analyzed. It is aimed at making more numerous admissible representations of motion in the algorithm. The representations allow designing a shape of trajectories joining the initial and final configuration of the motion planning task. This feature is especially important in motion planning in a cluttered environment. Some natural functions are introduced to measure the shape of a trajectory in the configuration space and to evaluate trajectories corresponding to different representations of motion.

Słowa kluczowe

EN

control; nilpotent system; algorithm; motion representation

PL

system sterowania; system nilpotentny; algorytm

• Wydawca: Oficyna Wydawnicza Uniwersytetu Zielonogórskiego
• Czasopismo: International Journal of Applied Mathematics and Computer Science
• Rocznik: 2011
• Tom: Vol. 21, no 3
• Strony: 525--534
• Opis fizyczny: Bibliogr. 21 poz., tab., wykr.

Twórcy

autor

Dulęba I.

autor

Jagodziński J.

• Institute of Computer Engineering, Control and Robotics, Wrocław University of Technology, ul. Janiszewskiego 11/17, 50-372 Wrocław, Poland,

Bibliografia

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