Evaluation of Parameterizations in Local Lie-Algebraic Motion Planning
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In this paper some parameterizations of controls are examined in a Lie algebraic method of motion planning for driftless nonholonomic systems. The purpose of the examination is to establish how numerous the parameterization should be and which items of a harmonic basis are to be included into the parameterization. An algorithm is presented to evaluate parameterizations without (or reduced) impact of a local, desired direction of motion.
KeywordsNonholonomic systems Motion planning Control parameterization Evaluation
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