Navigation functions in Conformal Geometric Algebra

Abstract

Conformal Geometric Algebra (CGA) can greatly improve controllers by simplifying the necessary equations and by its ability to apply geometric operations to more complicated geometric entities. In this paper we extend a singularity free CGA-based angular and linear velocity controller with navigation functions. The first navigation function ensures that the… (More)
DOI: 10.1109/LARC.2011.6086800

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