| Titre : | nonholonomic motion planning |
| Auteurs : | Zexiang Li, Éditeur scientifique ; J.F. Canny, Éditeur scientifique |
| Type de document : | texte imprimé |
| Editeur : | Boston : Kluwer academic publishers, 1993 |
| Collection : | The kluwer international series in engineering and computer science |
| Sous-collection : | Robotics: vision, manipulation and sensors, num. 192 |
| ISBN/ISSN/EAN : | 978-0-7923-9275-0 |
| Format : | XV-448 p. / ill. / 24 cm |
| Note générale : | Notes bibliogr. Index |
| Langues : | Anglais |
| Index. décimale : | 681.51 (Systemes de régulation automatique en général.caractéristiques techniques de la cybernétique ) |
| Tags : | Robots -- Motion Robots mobiles |
| 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. ... |
Exemplaires (1)
| Cote | Support | Localisation | Section | Disponibilité | Etat_Exemplaire |
|---|---|---|---|---|---|
| 681.51 NON | Papier | Bibliothèque Centrale | Automatique | Disponible | En bon état |
