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Erschienen in:
2009 | OriginalPaper | Buchkapitel
Motion Planning of Nonholonomic Systems with Dynamics
verfasst von : Krzysztof Tchoń, Janusz Jakubiak, Łukasz Małek
Erschienen in: Computational Kinematics
Verlag: Springer Berlin Heidelberg
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In the framework of control theory the motion planning problem of a robotic system amounts to determining a control function that steers the system from an initial state to a prescribed desirable state in such a way that the resulting state or output trajectory stays within an admissible region, free from obstacles. Basically, motion planning algorithms are devised to solve the problem without obstacles, and then suitable obstacle avoidance mechanisms are added. In this paper we shall concentrate on motion planning algorithms without obstacles for nonholonomic robotic systems. A comprehensive overview of approaches to the motion planning problem for the holonomic and the nonholonomic kinematics is contained in [7].