Submitted by Marc Ramsey on Mon, 02/06/2017 - 14:19
| Title | Controllability of Mobile Robots with Kinematic Constraints |
| Publication Type | Technical Report |
| Year of Publication | 1992 |
| Authors | Barraquand, J, Latombe, J-C |
| Issue | TR061 |
| Date Published | 01/1992 |
| Publisher | CIFE |
| Publication Language | eng |
| Keywords | Center for Integrated Facility Engineering, CIFE, Controllability, Robot Systems, Stanford University |
| Abstract | We address the controllability problem for robot systems subject to kinematic constraints on the velocity and its application to path planning. We show that the well-known Controllability Rank Condition Theorem is applicable to these systems when there are inequality constraints on the velocity in addition to equality constraints, and/or when the constraints are non-linear instead of linear. This allows us to infer a whole set of new results on the controllability of robotic systems subject to non-integrable kinematic constraints (called nonholonomic systems). A car with limited steering angle is one example of such a system. For example, we show that: 1) An n-body car system, which consists of a car towing n — 1 trailers, is controllable for n |
| URL | https://purl.stanford.edu/sr312fw1624 |
| PDF Link | https://stacks.stanford.edu/file/druid:sr312fw1624/TR061.pdf |
| Citation Key | 1104 |
