Lagrangian Jacobian Motion Planning: A Parametric Approach

This paper addresses the motion planning problem of nonholonomic robotic systems. The system’s kinematics are described by a driftless control system with output. It is assumed that the control functions are represented in a parametric form, as truncated orthogonal series. A new motion planning algorithm is proposed based on the solution of a Lagrange-type optimisation problem stated in the linear approximation of the parametrised system. Performance of the algorithm is illustrated by numeric computations for a motion planning problem of the rolling ball.

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