Controllability of a multibody mobile robot

Presents a proof of controllability for multibody mobile robots. An instance of such systems correspond to a car pulling and pushing trailers, like a luggage carrier in an airport. Three modeling levels are built: geometrical, differential and control models respectively. The authors shows that four different control systems correspond to a same differential model. The differential model is then used to give a same proof of controllability for four distinct multibody mobile robot systems.<<ETX>>

[1]  S. Shankar Sastry,et al.  Steering car-like systems with trailers using sinusoids , 1992, Proceedings 1992 IEEE International Conference on Robotics and Automation.

[2]  Mark Yim,et al.  Indoor automation with many mobile robots , 1990, EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications.

[3]  Jean-Paul Laumond,et al.  Singularities and Topological Aspects in Nonholonomic Motion Planning , 1993 .

[4]  Jean-Claude Latombe,et al.  Robot motion planning , 1970, The Kluwer international series in engineering and computer science.

[5]  Zexiang Li,et al.  Motion of two rigid bodies with rolling constraint , 1990, IEEE Trans. Robotics Autom..

[6]  Micha Sharir,et al.  Algorithmic motion planning in robotics , 1991, Computer.

[7]  A. Krener,et al.  Nonlinear controllability and observability , 1977 .

[8]  S. Sastry,et al.  Steering nonholonomic systems using sinusoids , 1990, 29th IEEE Conference on Decision and Control.

[9]  H. Sussmann,et al.  Controllability of nonlinear systems , 1972 .

[10]  H. Sussmann,et al.  Limits of highly oscillatory controls and the approximation of general paths by admissible trajectories , 1991, [1991] Proceedings of the 30th IEEE Conference on Decision and Control.

[11]  C. Lobry.  Contr^olabilite des systemes non lineaires , 1970 .

[12]  S. Sastry,et al.  Trajectory generation for the N-trailer problem using Goursat normal form , 1993, Proceedings of 32nd IEEE Conference on Decision and Control.

[13]  M. Spivak.  A comprehensive introduction to differential geometry , 1979 .

[14]  Jean-Claude Latombe,et al.  Nonholonomic multibody mobile robots: Controllability and motion planning in the presence of obstacles , 1991, Proceedings. 1991 IEEE International Conference on Robotics and Automation.

[15]  Yoshihiko Nakamura,et al.  Nonholonomic path planning of space robots via bi-directional approach , 1990, Proceedings., IEEE International Conference on Robotics and Automation.

[16]  J. Latombe,et al.  On nonholonomic mobile robots and optimal maneuvering , 1989, Proceedings. IEEE International Symposium on Intelligent Control 1989.