NDLI: Approaches to Motion Planning for a Spherical Robot Based on Differential Geometric Control Theory

Content Provider	IEEE Xplore Digital Library
Author	Tuanjie Li Yigang Zhang Yan Zhang
Copyright Year	2006
Description	Author affiliation: Sch. of Electromech. Eng., Xidian Univ., Xi'an (Tuanjie Li; Yigang Zhang; Yan Zhang)
Abstract	We present the approaches to motion planning for a spherical robot with a stable platform, which is not a nilpotent system. Firstly, the kinematic equations of the spherical robot are changed into an affine nonlinear control system without drift. The procedure starts by computing a control that steers the given initial configuration to the desired target configuration for an extended system using a Philip Hall basis of the controllability Lie algebra. The motion planning algorithm for the extended system is proposed. The solution to motion planning for the original system is then obtained using the Philip Hall coordinates. An iterative algorithm is given to generate arbitrary precision, and two methods of motion planning for the spherical robot are summarized. Finally, the simulation results of the motion planning examples illustrate the effectiveness of the methods
Starting Page	8918
Ending Page	8922
File Size	136104
Page Count	5
File Format	PDF
ISBN	1424403324
DOI	10.1109/WCICA.2006.1713724
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-06-21
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Motion planning Control theory Robot kinematics Robot sensing systems Nonlinear control systems Mobile robots Nonlinear equations Control systems Controllability Algebra Nonlinear control system Spherical robot Philip Hall basis Controllability Lie algebra
Content Type	Text
Resource Type	Article

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