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Trajectory Generation for the N-trailer Problem Using Goursat Norm
| Content Provider | Semantic Scholar |
|---|---|
| Author | Tilbury, D. M. Murray, Richard M. Sastry, S. Shankar |
| Copyright Year | 1993 |
| Abstract | In this paper, we show how the machinery of exterior diierential systems can be used to help solve nonholonomic motion planning problems. Since the Goursat normal form for exterior diierential systems is dual to chained form for vector elds, we solve the problem of steering a mobile robot with n trailers by converting the system into chained form, doing the path-planning in the chained form coordinates, and converting the path back into the original coordinates. Simulations of the N-trailer system parallel parking and backing into a loading dock are included. |
| File Format | PDF HTM / HTML |
| Alternate Webpage(s) | http://www-personal.engin.umich.edu/~tilbury/me662/caen/me662/caen/me662/caen/papers/n_trailers.ps.gz |
| Alternate Webpage(s) | http://robotics.eecs.berkeley.edu/papers/motion_planning/n_trailers_cdc.ps.gz |
| Alternate Webpage(s) | http://www-personal.engin.umich.edu/~tilbury/me662/caen/me662/caen/me662/caen/papers/cdc93.ps |
| Language | English |
| Access Restriction | Open |
| Subject Keyword | Computer simulation Continuation Dual Mobile robot Motion planning Numerous newton |
| Content Type | Text |
| Resource Type | Article |