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题名: Motion planning of nonholonomic systems with tracking control Lyapunov function
作者: Peng Y(彭艳) ; Liu M(刘梅) ; Tang ZJ(唐智杰) ; Xie SR(谢少荣) ; Luo J(罗均)
作者部门: 机器人学研究室
会议名称: 2010 International Conference on Frontiers of Manufacturing and Design Science, ICFMD2010
会议日期: December 11-12, 2010
会议地点: Chongqing, China
会议主办者: Control Engineering and Information Science Research Association; Int. Front. Sci. Technol. Res. Assoc.; Trans Tech Publications; Chongqing Xueya Conferences Catering Co.,Ltd; Chongqing University of Technology
会议录: Applied Mechanics and Materials
会议录出版者: Trans Tech Publications
会议录出版地: Clausthal-Zellerfeld, Germany
出版日期: 2010
页码: 3992-3996
收录类别: CPCI(ISTP) ; EI
ISSN号: 1660-9336
ISBN号: 9783037850046
关键词: Differential equations ; Lyapunov functions ; Lyapunov methods ; Manufacture ; Motion planning ; Navigation ; Trajectories
摘要: A common approach to motion planning of robots and vehicles involves finding suitable trajectories for the positions of each configuration variable, and then using feedback to regulate the system to these trajectories. However, when the system has less actuator than dynamical degrees of freedom, it is not always possible to do this arbitrarily. In this paper a tracking control Lyapunov function (TCLF) is proposed to guarantee that the trajectory generation is convergent and executable under nonholonomic constraint, and the simulation result conducted on surface vehicle shows its effectiveness. © (2011) Trans Tech Publications.
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内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/10444
Appears in Collections:机器人学研究室_会议论文

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