Energy-efficient Newton-based nonholonomic motion planning

A modification of the Newton algorithm applied to nonholonomic motion planning is presented. The energy optimization is performed by optimizing motion in the null space of the Jacobian matrix derived from the nonholonomic system. Resulting controls are smooth and easy to generate for motors or thrus...

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Bibliographic Details
Main Authors: Duleba, I., Sasiadek, J.Z.
Format: Conference Proceeding
Language:English
Subjects:
Control systems
Energy efficiency
Iterative algorithms
Jacobian matrices
Kinematics
Mobile robots
Motion control
Null space
Technology planning
Trajectory
Online Access:Request full text
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Summary:A modification of the Newton algorithm applied to nonholonomic motion planning is presented. The energy optimization is performed by optimizing motion in the null space of the Jacobian matrix derived from the nonholonomic system. Resulting controls are smooth and easy to generate for motors or thrusters. The method can be used to steer free-floating objects as well as mobile robots.
ISSN:0743-1619
2378-5861
DOI:10.1109/ACC.2001.946007