Creator:

Dulęba, Ignacy ; Jagodziński, Jacek

Contributor:

Korbicz, Józef (1951- ) - red. ; Uciński, Dariusz - red.

Title:

Motion representations for the Lafferriere-Sussmann algorithm for nilpotent control systems

Group publication title:

AMCS, Volume 21 (2011)

Subject and Keywords:

control ; nilpotent system ; algorithms ; motion representation

Abstract:

In this paper, an extension of the Lafferriere?Sussmann algorithm of motion planning for driftless nilpotent control systems is analyzed. It is aimed at making more numerous admissible representations of motion in the algorithm. The representations allow designing a shape of trajectories joining the initial and final configuration of the motion planning task. This feature is especially important in motion planning in a cluttered environment. Some natural functions are introduced to measure the shape of a trajectory in the configuration space and to evaluate trajectories corresponding to different representations of motion.

Publisher:

Zielona Góra: Uniwersytet Zielonogórski

Date:

2011

Resource Type:

artykuł

DOI:

10.2478/v10006-011-0041-y

Pages:

525-534

Source:

AMCS, Volume 21, Number 3 (2011) ; click here to follow the link

Language:

eng

License CC BY 4.0:

click here to follow the link

Rights:

Biblioteka Uniwersytetu Zielonogórskiego