Polynomial motion of non-holonomic mechanical systems of chained form

✍ Scribed by W. L. Xu; B. L. Ma

• Publisher: John Wiley and Sons
• Year: 1999
• Tongue: English
• Weight: 174 KB
• Volume: 22
• Category: Article
• ISSN: 0170-4214
• DOI: 10.1002/(sici)1099-1476(19990910)22:13<1153::aid-mma76>3.0.co;2-0

✦ Synopsis

In this study a simple general motion planning approach for non-holonomic mechanical systems of chained form is proposed, in which the intricate motion planning problem (steering the system from an initial state to a "nal state) is converted to a simple curve-"tting problem (satisfying a set of end-point conditions). By means of this approach, other geometric constraints, such as passing a channel and avoiding collision with obstacles, and minimizing some cost functions, such as the minimum path length, can be easily handled, while the control inputs can be derived directly from the smooth path planned. For verifying the e!ectiveness of the proposed approach, a number of simulations are conducted for various task requirements and environments, with respect to a four-wheel mobile chart (one-chain system) and a three-input "retruck (two-chain system).