NONHOLONOMIC STRATIFIED MOTION PLANNING USING DECOMPOSED TRAJECTORIES

This paper is involved in the conception of a new stratified motion planning algorithm whose mathematical details is established in [1]. In spite of the earlier stratified approaches where only the desired final configuration could be prescribed, the new method aims to follow special class of reference trajectories called decomposed trajectory. The decomposed trajectory is still restricted in the sense that it should specially go through a sequence of connected integral submanifolds. The method is demonstrated on an illustrative example of the hexapod robot.

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