论文信息 - Path planning for nonholonomic systems with drift

Path planning for nonholonomic systems with drift

We study nonholonomic systems with drift terms. The discussion is focused on a class of Lagrangian systems with a cyclic coordinate. An approach to open-loop path planning is presented. A control algorithm is derived and applied to the example of a planar diver.

S. Shankar Sastry | Andrea Balluchi | L. S. Crawford | J. M. Godhavn

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