Berret, Bastien (Univ. of Burgandy), Gauthier, Jean-Paul (Univ. of Burgandy,), Zakalyukin, Vladimir (Moscow state Univ.)

Nonholonomic Interpolation: A General Methodology for Motion Planning in Robotics

Scheduled for presentation during the Regular Session "Robotic Systems" (MoP07), Monday, July 24, 2006, 16:10−16:35, Room H

17th International Symposium on Mathematical Theory of Networks and Systems, July 24-28, 2006, Kyoto, Japan

This information is tentative and subject to change. Compiled on April 26, 2024

Abstract

In this paper, we present several constructive results about nonholonomic interpolation, in the perspective of motion planning in robotics. We specially treat the case of a set of nonholonomic constraints of corank p<=3. In fact, we are able to treat almost all generic cases for p<=3. But also, we show what may happen for larger corank. We give complete details in the Engel’s case, which, from the point of view of robotics, corresponds to the kinematic constraints of a car with a trailer.