Lagrangian Jacobian motion planning
K. Tchoń and I. Góral
https://doi.org/10.19124/ima.2015.001.11
Abstract
This paper is devoted to the motion planning problem of nonholonomic robotic systems whose kinematics are represented by a driftless control system with outputs. The motion planning problem is defined in terms of the inversion of the end-point map of the system, that may be accomplished by a Jacobian algorithm. The Lagrangian Jacobian inverse is introduced and examined, and a corresponding Lagrangian Jacobian motion planning algorithm is designed. Performance of this algorithm is illustrated by solving a motion planning problem for the rolling ball.