Existing methods for nonholonomic motion planning can only be applied to exactly nilpotentizable or flat systems. For nonholonomic systems that do not fall into the above classes, we conjecture that globally fined nilpotent approximations will allow the synthesis of efficient steering and stabilization strategies. In this paper, a car towing true off-hooked trailers is Considered as a case study. First, it is shown how to derive a nilpotent approximation that is valid in, the neighborhood of both regular and singular points. Then such approximate model is used to compute steering controls. Simulation results are reported to show the satisfactory performance of the method.
Steering nonholonomic systems via nilpotent approximations: The general two-trailer system / Vendittelli, Marilena; Oriolo, Giuseppe; Jean Paul, Laumond. - 1:(1999), pp. 823-829. (Intervento presentato al convegno International Conference on Robotics and Automation (ICRA '99) tenutosi a DETROIT, MI nel MAY 10-15, 1999).
Steering nonholonomic systems via nilpotent approximations: The general two-trailer system
VENDITTELLI, Marilena;ORIOLO, Giuseppe;
1999
Abstract
Existing methods for nonholonomic motion planning can only be applied to exactly nilpotentizable or flat systems. For nonholonomic systems that do not fall into the above classes, we conjecture that globally fined nilpotent approximations will allow the synthesis of efficient steering and stabilization strategies. In this paper, a car towing true off-hooked trailers is Considered as a case study. First, it is shown how to derive a nilpotent approximation that is valid in, the neighborhood of both regular and singular points. Then such approximate model is used to compute steering controls. Simulation results are reported to show the satisfactory performance of the method.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
