Small Radius Spheres in Output Space of Nonholonomic Systems

Arkadiusz Mielczarek, Ignacy Duleba

2019

Abstract

In this paper small radius spheres of driftless nonholonomic systems in an output space are analyzed. The nonholonomic systems appear frequently in mobile robotics. An algorithm is provided to compute the spheres extensively using a directional optimization and spherical coordinates. Illustrating examples are provided for two two-input nonholonomic systems. Results presented in this paper are important in motion planning of nonholonomic systems with outputs as a ready-to-use receipt is given how to shift a point in an output space in a desired direction. In practice, an effective short-distance motion planner is required while planning a motion in a space polluted with obstacles.

Paper Citation

in Harvard Style

Mielczarek A. and Duleba I. (2019). Small Radius Spheres in Output Space of Nonholonomic Systems.In Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-380-3, pages 316-322. DOI: 10.5220/0007840003160322

in Bibtex Style

@conference{icinco19,
author={Arkadiusz Mielczarek and Ignacy Duleba},
title={Small Radius Spheres in Output Space of Nonholonomic Systems},
booktitle={Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2019},
pages={316-322},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0007840003160322},
isbn={978-989-758-380-3},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Small Radius Spheres in Output Space of Nonholonomic Systems
SN - 978-989-758-380-3
AU - Mielczarek A.
AU - Duleba I.
PY - 2019
SP - 316
EP - 322
DO - 10.5220/0007840003160322