Line-integral estimates and motion planning using the continuation method

MaRDI QIDQ4246860zbMATH OpenFDO

Authors Yacine Chitour, Héctor J. Sussmann

Publication date 17 October 2000

zbMATH Keywords

abnormal extremalscontinuation methodfront-wheel-driven carglobal existencenonholonomic path-planning problemopen-loop controlspath-lifting differential equationStrichartz's strong bracket generating conditionssub-Riemannian manifolds

Mathematics Subject Classification ID

Kinematics of a rigid body (70B10) Kinematics of mechanisms and robots (70B15) Control of mechanical systems (70Q05)

Review text

For smooth driftless control-affine systems, the approach to the nonholonomic path-planning problem based on the continuation method leads to an ordinary differential equation in the space of open-loop controls, known as the ``path-lifting differential equation (PLE). Global existence of the solutions to the PLE is known for systems that satisfy Strichartz's strong bracket generating conditions (SBGC). In the paper this existence result is extended by proving an estimate for certain line integrals along trajectories, and showing that this estimate implies the global existence result not only in the case when the SBGC is satisfied, but also in some other cases. In particular, the proposed approach is applied to a model of front-wheel-driven car (for which the SBGC does not hold), and it is shown that the continuation method can solve the path-planning problem for this model. For the entire collection see [Zbl 0903.00092].

Recommendations

• A continuation method for motion-planning problems
• A boundary-integral algorithm for adaptive motion planning
• scientific article; zbMATH DE number 426007
• Combining discrete and continuous optimization to solve kinodynamic motion planning problems
• Trajectory generation under constraints by linearization method
• scientific article; zbMATH DE number 1304580
• An interior point continuous path-following trajectory for linear programming
• Nonuniform Discretization for Kinodynamic Motion Planning and its Applications
• Kinematics and dynamics motion planning by polar piecewise interpolation and geometric considerations
• Iterative methods for efficient sampling-based optimal motion planning of nonlinear systems

Cited in

(11)

• The planning of optimal motions of non-holonomic systems
• Path planning on compact Lie groups using a homotopy method.
• Singularities of holonomic and non-holonomic robotic systems: a normal form approach
• Approximation of Jacobian inverse kinematics algorithms
• Lagrangian Jacobian inverse for nonholonomic robotic systems
• A continuation method for motion-planning problems
• Constrained motion planning of nonholonomic systems
• Endogenous configuration space approach: an intersection of robotics and control theory
• Extended Jacobian inverse kinematics algorithms for mobile manipulators
• A gradient flow on control space with rough initial condition
• Repeatable approximation of the Jacobian pseudo-inverse

This page was built for publication: Line-integral estimates and motion planning using the continuation method

Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q4246860)