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...
Saved in:
| Main Authors: | , |
|---|---|
| Format: | Book |
| Language: | English |
| Published: |
Stanford, Calif.
1990
|
| Series: | Stanford University / Computer Science Department: Report STAN CS
1317 |
| Subjects: | |
| Summary: | 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. |
| Physical Description: | 24 S. graph. Darst. |
Staff View
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| 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. | |
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| 650 | 4 | |a Robots |x Control systems | |
| 700 | 1 | |a Latombe, Jean-Claude |e Verfasser |4 aut | |
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Record in the Search Index
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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 |
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| 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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| indexdate | 2024-07-09T17:27:18Z |
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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 |