Development of Task-Space Nonholonomic Motion Planning Algorithm Based on Lie-Algebraic Method
In this paper, a Lie-algebraic nonholonomic motion planning technique, originally designed to work in a configuration space, was extended to plan a motion within a task-space resulting from an output function considered. In both planning spaces, a generalized Campbell–Baker–Hausdorff–Dynkin formula...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2021-11-01
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| Series: | Applied Sciences |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2076-3417/11/21/10245 |