Motion planning of nonholonomic systems using highly oscillatory series

@article{Opalka2012MotionPO,
  title={Motion planning of nonholonomic systems using highly oscillatory series},
  author={Michal Opalka and Ignacy Duleba},
  journal={2012 17th International Conference on Methods & Models in Automation & Robotics (MMAR)},
  year={2012},
  pages={621-626}
}
In this paper a nonholonomic motion planning task was solved using an algorithm proposed by Sussmann and Liu [8] and based on controls in the form of highly oscillatory series (HOS). Outputs of the algorithm were evaluated with respect to energy expenditure on controls and speed of its convergence. Based on characteristic features of the task, two… CONTINUE READING