Multiple-task motion planning of non-holonomic systems with dynamics
This paper addresses the motion planning problem in non-holonomic robotic systems. The system's kinematics and dynamics are represented as a control affine system with outputs. The problem is defined in terms of the end-point map of this system, using the endogenous configuration space approach...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
Copernicus Publications
2013-04-01
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| Series: | Mechanical Sciences |
| Online Access: | http://www.mech-sci.net/4/153/2013/ms-4-153-2013.pdf |