Controllability of mobile robots with kinematic constraints:
Abstract: "We address the controllability problem for robot systems subject to kinematic constraints on the velocity and its application to path planning. We show that the well-known Controllability Rank Condition Theorem is applicable to these systems when there are inequality constraints on t...
Gespeichert in:
| Hauptverfasser: | , |
|---|---|
| Format: | Buch |
| Sprache: | English |
| Veröffentlicht: |
Stanford, Calif.
1990
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| Schriftenreihe: | Stanford University / Computer Science Department: Report STAN CS
1317 |
| Schlagworte: | |
| Zusammenfassung: | Abstract: "We address the controllability problem for robot systems subject to kinematic constraints on the velocity and its application to path planning. We show that the well-known Controllability Rank Condition Theorem is applicable to these systems when there are inequality constraints on the velocity in addition to equality constraints, and/or when the constraints are non-linear instead of linear. This allows us to infer a whole set of new results on the controllability of robotic systems subject to non-integrable kinematic constraints (called nonholonomic systems). A car with limited steering angle is one example of such a system. |
| Beschreibung: | 24 S. graph. Darst. |
Internformat
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| 100 | 1 | |a Barraquand, Jérôme |e Verfasser |4 aut | |
| 245 | 1 | 0 | |a Controllability of mobile robots with kinematic constraints |c Jérôme Barraquand and Jean-Claude Latombe |
| 264 | 1 | |a Stanford, Calif. |c 1990 | |
| 300 | |a 24 S. |b graph. Darst. | ||
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| 490 | 1 | |a Stanford University / Computer Science Department: Report STAN CS |v 1317 | |
| 520 | 3 | |a Abstract: "We address the controllability problem for robot systems subject to kinematic constraints on the velocity and its application to path planning. We show that the well-known Controllability Rank Condition Theorem is applicable to these systems when there are inequality constraints on the velocity in addition to equality constraints, and/or when the constraints are non-linear instead of linear. This allows us to infer a whole set of new results on the controllability of robotic systems subject to non-integrable kinematic constraints (called nonholonomic systems). A car with limited steering angle is one example of such a system. | |
| 650 | 4 | |a Mobile robots | |
| 650 | 4 | |a Robots |x Control systems | |
| 700 | 1 | |a Latombe, Jean-Claude |e Verfasser |4 aut | |
| 810 | 2 | |a Computer Science Department: Report STAN CS |t Stanford University |v 1317 |w (DE-604)BV008928280 |9 1317 | |
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Datensatz im Suchindex
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| any_adam_object | |
| author | Barraquand, Jérôme Latombe, Jean-Claude |
| author_facet | Barraquand, Jérôme Latombe, Jean-Claude |
| author_role | aut aut |
| author_sort | Barraquand, Jérôme |
| author_variant | j b jb j c l jcl |
| building | Verbundindex |
| bvnumber | BV008950010 |
| callnumber-first | T - Technology |
| callnumber-label | TJ211 |
| callnumber-raw | TJ211.415 |
| callnumber-search | TJ211.415 |
| callnumber-sort | TJ 3211.415 |
| callnumber-subject | TJ - Mechanical Engineering and Machinery |
| ctrlnum | (OCoLC)24468638 (DE-599)BVBBV008950010 |
| dewey-full | 629.8/92 |
| dewey-hundreds | 600 - Technology (Applied sciences) |
| dewey-ones | 629 - Other branches of engineering |
| dewey-raw | 629.8/92 |
| dewey-search | 629.8/92 |
| dewey-sort | 3629.8 292 |
| dewey-tens | 620 - Engineering and allied operations |
| discipline | Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik / Mechatronik |
| format | Book |
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| illustrated | Illustrated |
| indexdate | 2024-07-09T17:27:18Z |
| institution | BVB |
| language | English |
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| oclc_num | 24468638 |
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| physical | 24 S. graph. Darst. |
| publishDate | 1990 |
| publishDateSearch | 1990 |
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| series2 | Stanford University / Computer Science Department: Report STAN CS |
| spelling | Barraquand, Jérôme Verfasser aut Controllability of mobile robots with kinematic constraints Jérôme Barraquand and Jean-Claude Latombe Stanford, Calif. 1990 24 S. graph. Darst. txt rdacontent n rdamedia nc rdacarrier Stanford University / Computer Science Department: Report STAN CS 1317 Abstract: "We address the controllability problem for robot systems subject to kinematic constraints on the velocity and its application to path planning. We show that the well-known Controllability Rank Condition Theorem is applicable to these systems when there are inequality constraints on the velocity in addition to equality constraints, and/or when the constraints are non-linear instead of linear. This allows us to infer a whole set of new results on the controllability of robotic systems subject to non-integrable kinematic constraints (called nonholonomic systems). A car with limited steering angle is one example of such a system. Mobile robots Robots Control systems Latombe, Jean-Claude Verfasser aut Computer Science Department: Report STAN CS Stanford University 1317 (DE-604)BV008928280 1317 |
| spellingShingle | Barraquand, Jérôme Latombe, Jean-Claude Controllability of mobile robots with kinematic constraints Mobile robots Robots Control systems |
| title | Controllability of mobile robots with kinematic constraints |
| title_auth | Controllability of mobile robots with kinematic constraints |
| title_exact_search | Controllability of mobile robots with kinematic constraints |
| title_full | Controllability of mobile robots with kinematic constraints Jérôme Barraquand and Jean-Claude Latombe |
| title_fullStr | Controllability of mobile robots with kinematic constraints Jérôme Barraquand and Jean-Claude Latombe |
| title_full_unstemmed | Controllability of mobile robots with kinematic constraints Jérôme Barraquand and Jean-Claude Latombe |
| title_short | Controllability of mobile robots with kinematic constraints |
| title_sort | controllability of mobile robots with kinematic constraints |
| topic | Mobile robots Robots Control systems |
| topic_facet | Mobile robots Robots Control systems |
| volume_link | (DE-604)BV008928280 |
| work_keys_str_mv | AT barraquandjerome controllabilityofmobilerobotswithkinematicconstraints AT latombejeanclaude controllabilityofmobilerobotswithkinematicconstraints |