Kinematic path planning for robots with holonomic and nonholonomic constraints (Q4246863)
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scientific article; zbMATH DE number 1301654
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| English | Kinematic path planning for robots with holonomic and nonholonomic constraints |
scientific article; zbMATH DE number 1301654 |
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18 May 2000
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holonomic constraints
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iterative solution
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nonholonomic constraints
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finite time nonlinear control problem
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static root finding problem
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redundant arms
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mobile vehicles with multiple trailers
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Kinematic path planning for robots with holonomic and nonholonomic constraints (English)
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We address the problem of finding a kinematically feasible path that satisfies a given set of holonomic and nonholonomic constraints, of both equality and inequality types. The path planning problem is first posed as a finite time nonlinear control problem. This problem is subsequently transformed to a static root finding problem in an augmented space, which can then be iteratively solved. The algorithm has shown promising results in planning feasible paths for redundant arms satisfying Cartesian path following and goal endpoint specifications, and mobile vehicles with multiple trailers. In contrast to local approaches, this algorithm is less prone to problems such as singularities and local minima. For the entire collection see [Zbl 0903.00092].
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