| Titre : |
nonholonomic motion planning |
| Type de document : |
texte imprimé |
| Auteurs : |
Zexiang Li, Éditeur scientifique ; J.F. Canny, Éditeur scientifique |
| Editeur : |
Boston : Kluwer academic publishers |
| Année de publication : |
1993 |
| Collection : |
The kluwer international series in engineering and computer science |
| Sous-collection : |
Robotics: vision, manipulation and sensors num. 192 |
| Importance : |
XV-448 p. |
| Présentation : |
ill. |
| Format : |
24 cm |
| ISBN/ISSN/EAN : |
978-0-7923-9275-0 |
| Note générale : |
Notes bibliogr. Index |
| Langues : |
Anglais (eng) |
| Mots-clés : |
Robots -- Motion
Robots mobiles |
| Index. décimale : |
681.51 Systemes de régulation automatique en général.caractéristiques techniques de la cybernétique |
| Résumé : |
Nonholonomic motion planning is arranged into three chapter groups: controllability: one of the key mathematical tools needed to study nonholonomic motion. Motion planning for mobile robots: in this section on motion planning, the papers are focused on problems with nonholonomic velocity constraints as well as constraints on the generalized coordinates.
Falling cats, space robots and gauge theory: thre are numerous connections to b made between symplectic geometry technques for the study of holonomies in mechanics, gauge theory and control. In this section these connections are discussed using the backdrop of examples drawn from space robots and falling cats reorienting themselves. |
| Note de contenu : |
Contents:
* Non-holonomic kinematics and the role of elliptic functions in constructive controllability.
* Steering nonholonomic control systems using sinusoids.
* Smooth time-periodic feedback solutions for nonholonomic motion planning.
* Lie bracket extensions and averaging: the single-bracket case.
* Singularities and topological aspests in nonholonomic motion planning.
* Motion planning for nonholonomic dynamic systems.
... |
nonholonomic motion planning [texte imprimé] / Zexiang Li, Éditeur scientifique ; J.F. Canny, Éditeur scientifique . - Boston : Kluwer academic publishers, 1993 . - XV-448 p. : ill. ; 24 cm. - ( The kluwer international series in engineering and computer science. Robotics: vision, manipulation and sensors; 192) . ISBN : 978-0-7923-9275-0 Notes bibliogr. Index Langues : Anglais ( eng)
| Mots-clés : |
Robots -- Motion
Robots mobiles |
| Index. décimale : |
681.51 Systemes de régulation automatique en général.caractéristiques techniques de la cybernétique |
| Résumé : |
Nonholonomic motion planning is arranged into three chapter groups: controllability: one of the key mathematical tools needed to study nonholonomic motion. Motion planning for mobile robots: in this section on motion planning, the papers are focused on problems with nonholonomic velocity constraints as well as constraints on the generalized coordinates.
Falling cats, space robots and gauge theory: thre are numerous connections to b made between symplectic geometry technques for the study of holonomies in mechanics, gauge theory and control. In this section these connections are discussed using the backdrop of examples drawn from space robots and falling cats reorienting themselves. |
| Note de contenu : |
Contents:
* Non-holonomic kinematics and the role of elliptic functions in constructive controllability.
* Steering nonholonomic control systems using sinusoids.
* Smooth time-periodic feedback solutions for nonholonomic motion planning.
* Lie bracket extensions and averaging: the single-bracket case.
* Singularities and topological aspests in nonholonomic motion planning.
* Motion planning for nonholonomic dynamic systems.
... |
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nonholonomic motion planning (1993)
