Abstract
In this paper a hybrid motion planning method is presented that couples a Lie-algebraic method with a Newton algorithm. The aim of the hybridization is to preserve advantages of both methods while avoiding their disadvantages. A few simulations performed on a model of the free-floating planar double pendulum placed atop of a base illustrate usefulness of the hybridization.
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Duleba, I., Opalka, M. (2015). Hybrid Method of Motion Planning for Driftless Systems. In: Sąsiadek, J. (eds) Aerospace Robotics II. GeoPlanet: Earth and Planetary Sciences. Springer, Cham. https://doi.org/10.1007/978-3-319-13853-4_3
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DOI: https://doi.org/10.1007/978-3-319-13853-4_3
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