<abstract xml:lang="en" xmlns="http://www.w3.org/1999/xhtml"><p>In this paper, an extension of the Lafferriere-Sussmann algorithm of motion planning for driftless nilpotent control systems is analyzed. It is aimed at making more numerous admissible representations of motion in the algorithm. The representations allow designing a shape of trajectories joining the initial and final configuration of the motion planning task. This feature is especially important in motion planning in a cluttered environment. Some natural functions are introduced to measure the shape of a trajectory in the configuration space and to evaluate trajectories corresponding to different representations of motion.</p></abstract>

In this paper, an extension of the Lafferriere-Sussmann algorithm of motion planning for driftless nilpotent control systems is analyzed. It is aimed at making more numerous admissible representations of motion in the algorithm. The representations allow designing a shape of trajectories joining the initial and final configuration of the motion planning task. This feature is especially important in motion planning in a cluttered environment. Some natural functions are introduced to measure the shape of a trajectory in the configuration space and to evaluate trajectories corresponding to different representations of motion.

Motion representations for the Lafferriere-Sussmann algorithm for nilpotent control systems

Institute of Computer Engineering, Control and Robotics, Wrocław University of Technology, ul. Janiszewskiego 11/17, 50-372 Wrocław, Poland

International Journal of Applied Mathematics and Computer Science

In this paper, an extension of the Lafferriere-Sussmann algorithm of motion planning for driftless nilpotent control systems is analyzed. It is aimed at making...

Motion representations for the Lafferriere-Sussmann algorithm for nilpotent control systems

Publié en ligne: 22 sept. 2011

Pages: 525 - 534

DOI: https://doi.org/10.2478/v10006-011-0041-y

Mots clés
control, nilpotent system, algorithm, motion representation

This content is open access.

Motion representations for the Lafferriere-Sussmann algorithm for nilpotent control systems

Publié en ligne: 22 sept. 2011

Pages: 525 - 534

DOI: https://doi.org/10.2478/v10006-011-0041-y

Mots cléscontrol, nilpotent system, algorithm, motion representation

This content is open access.

Mots clés
control, nilpotent system, algorithm, motion representation