Evaluation of Configurations in Nonholonomic Motion Planning, 2D Case Study

Autor:	Ignacy Duleba, Iwona Karcz-Duleba
Rok vydání:	2019
Předmět:	Nonholonomic system Nonholonomic motion planning Computer science Control theory Plane (geometry) Path (graph theory) Versor Motion (geometry) Joins Energy (signal processing)
Zdroj:	SISY
DOI:	10.1109/sisy47553.2019.9111628
Popis:	In this paper evaluation of an efficiency of motion for nonholonomic systems in a plane spanned by two non colinear versors is examined when energy costs of motion along each versor differ. It appears that an orthogonal setting of versors is preferable in general but at some situations even a potentially bad setting appears to be acceptable. The observations are important in a nonholonomic motion planning while designing a path to follow that joins given initial and final configurations.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::d755513006ac500e55ccaf07c5ac1a68 https://doi.org/10.1109/sisy47553.2019.9111628 Zobrazit plný text záznamu