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Trajectory generation for the n-trailer problem using goursat normal form (1995).
| Content Provider | CiteSeerX |
|---|---|
| Author | Tilbury, Dawn Murray, Richard M. Sastry, S. Shankar |
| Abstract | In this paper, we develop the machinery of exterior differenllai forms, more particularly the Gourset normal form for a Ffaffian system, tor solving nonsoloMwic motion phdng probkms, &.e., motion planning for systems with lloniatcgrable velocity constraints. We use tbis technique to solve the problem of rbxing a mobile robot WMI R trailers. We present an algorithm for finding a family of ~WIS~-~~OM whicb will convert the system of rolling constraints on the wheels of the robot with n traiten into the GoaFapt canonical form..nRo of these transformations are studied in detail. The Gomt normal form for exterior diffemtial systems is dual to the so-called chained-form for vector fields that bas been studied previously. Consequently, we are able to give the state feedback law aad change o € e00rdinaW to-vert the N-trai4r system id0 chained form. Tllree metbods for for chained-form systems using shrosoidg and polynomiPls aa inputs are presented. The motion prpnnhag strategy Is therefore to the N-trailer system into Gonrsat form, use this to lind the cboinedform coordinates, plan a path for the corresponding cimkd-form system, and then transform the resalting traje.ctory back into the original coordinates. Simulations and h.ames of mode animations of the N-tnder system for parallel parking and backing into a loading dock using this strategy are included. |
| File Format | |
| Publisher Date | 1995-01-01 |
| Access Restriction | Open |
| Subject Keyword | Trajectory Generation N-tnder System Vector Field Tllree Metbods Gourset Normal Form Goafapt Canonical Form Gomt Normal Form Polynomipls Aa Input Ffaffian System Loading Dock Tbis Technique Corresponding Cimkd-form System Parallel Parking Motion Prpnnhag Strategy Motion Planning Gonrsat Form Cboinedform Coordinate Nonsolomwic Motion Phdng Probkms N-trailer System N-trai4r System Id0 So-called Chained-form State Feedback Law Aad Change Wi Om Whicb Mobile Robot Wmi Trailer Exterior Differenllai Form Exterior Diffemtial System Mode Animation Chained-form System Lloniatcgrable Velocity Constraint Resalting Traje Original Coordinate |
| Content Type | Text |
