NDLI: Nonholonomic motion planning using Stoke's theorem

Content Provider	IEEE Xplore Digital Library
Author	Mukherjee, R. Anderson, D.P.
Copyright Year	1993
Description	Author affiliation: Dept. of Mech. Eng., US Naval Postgraduate Sch., Monterey, CA, USA (Mukherjee, R.; Anderson, D.P.)
Abstract	An algorithm for planning admissible trajectories for nonholonomic systems that will take the system from one point in its configuration space to another is developed. In this algorithm, the independent variables are converged to their desired values. Closed trajectories of the independent variables are used to converge the dependent variables. Stoke's theorem is used in the algorithm to convert the problem of finding a closed path into that of finding a surface area in the space of the independent variables such that the dependent variables converge to their desired values as the independent variables traverse along the boundary of this surface area. The salient features of this algorithm are illustrated in the example of a disk rolling without slipping on a flat surface.
Starting Page	802
Ending Page	809
File Size	743631
Page Count	8
File Format	PDF
ISBN	0818634502
DOI	10.1109/ROBOT.1993.292243
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1993-05-02
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Mechanical systems Path planning Mechanical factors US Government Protection Algebra Control systems Wheels Drives Trajectory
Content Type	Text
Resource Type	Article

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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