Sub-optimal motion planning of one-chained, two-input nonholonomic systems

• Autorzy: Duleba Ignacy , Karcz-Duleba Iwona

Identyfikatory

DOI

10.24425/bpasts.2023.145684

• Języki publikacji: EN

Abstrakty

EN

In this paper three algorithms of motion planning for two-input, one-chained nonholonomic systems are presented. The classical Murray-Sastry algorithm is compared with two original algorithms aimed at optimizing energy of controls. Based on the generalized Campbell- Baker-Hausdorff-Dynkin formula applied to the systems, some observations are made concerning the optimal relationship between amplitudes and phases of harmonic controls. The observations help to optimize a selection of controls and to design new algorithms for planning a sub- optimal trajectory between given boundary configurations. It was also shown that for those particular systems the generalized C-B-H-D formula is valid not only locally (as in a typical case) but also globally. Simulations performed on the five-dimensional chain system facilitate distinguishing the proposed algorithms from the Murray-Sastry algorithm and to illustrate their features. Systems in a chained form are important from a practical point of view as they are canonical for a class of systems transformable into this form. The most prominent among them are mobile robots with or without trailers.

Słowa kluczowe

EN

nonholonomic systems; optimization; algorithm; Lie-algebraic methods; chained-form

PL

forma łańcuchowa; optymalizacja; algorytm; system nieholonomiczny; metoda Lie algebraiczna

• Wydawca: Polska Akademia Nauk, Wydział IV Nauk Technicznych
• Czasopismo: Bulletin of the Polish Academy of Sciences. Technical Sciences
• Rocznik: 2023
• Tom: Vol. 71, nr 3
• Strony: art. no. e145684
• Opis fizyczny: Bibliogr. 30 poz., tab.

Twórcy

autor

Duleba Ignacy

• Department of Cybernetics and Robotics, Wroclaw University of Science and Technology, Wybrzeże Wyspiańskiego 27, 50-370 Wrocław, Poland

• https://orcid.org/0000-0002-2278-0816

autor

Karcz-Duleba Iwona

• Department of Control Systems and Mechatronics, Wroclaw University of Science and Technology, Wybrzeże Wyspiańskiego 27, 50-370 Wrocław, Poland

• https://orcid.org/0000-0003-4946-2225

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Uwagi

Opracowanie rekordu ze środków MEiN, umowa nr SONP/SP/546092/2022 w ramach programu "Społeczna odpowiedzialność nauki" - moduł: Popularyzacja nauki i promocja sportu (2022-2023).