Lagrangian Jacobian Motion Planning: A Parametric Approach

Abstract

This paper addresses the motion planning problem of nonholonomic robotic systems. The system's kinematics are described by a driftless control system with output. It is assumed that the control functions are represented in a parametric form, as truncated orthogonal series. A new motion planning algorithm is proposed based on the solution of a Lagrange-type optimisation problem stated in the linear approximation of the parametrised system. Performance of the algorithm is illustrated by numeric computations for a motion planning problem of the rolling ball.

Path Planning for Chainable Non-holonomic System Based on Iterative Learning Control

“…The actual control of non-holonomic system suffers from various disturbances, due to the error in the fabrication and assembly of non-holonomic machines, the insufficient resolution of the transmission system, and the uncertain accuracy of the measuring instrument [1,2]. As a result, the actual result of motion control often deviates from the theoretical simulation value, that is, the final configuration of the system does not coincide with the target configuration [3].…”