文章基本信息

标题：Optimal motion planning for non-holonomic robotic systems * * This research was supported by the Wroclaw University of Science and Technology under a statutory project.
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作者：Krzysztof Tchoń ; Ida Góral
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2017
卷号：50
期号：1
页码：1910-1915
DOI：10.1016/j.ifacol.2017.08.264
语种：English
出版社：Elsevier
摘要：AbstractThe kinematic motion planning problem for non-holonomic robotic systems is studied as an optimal control problem. It is shown that the Jacobian motion planning algorithms designed within the Endogenous Configuration Space Approach are instances of the Sequential Linear Quadratic Optimal Control and the Sequential Quadratic Programming. A Lagrangian Jacobian motion planning algorithm is designed in parametric version, equivalent to the procedure of the Sequential Quadratic Programming. Two computational examples illustrate the algorithm’s performance.
关键词：KeywordsMotion Control SystemsMobile RobotsGuidanceNavigationControl