Nonholonomic motion planning based on Newton algorithm with energy optimization

@article{Duleba2003NonholonomicMP,
  title={Nonholonomic motion planning based on Newton algorithm with energy optimization},
  author={Ignacy Duleba and Jerzy Z. Sasiadek},
  journal={IEEE Trans. Contr. Sys. Techn.},
  year={2003},
  volume={11},
  pages={355-363}
}
Discusses a modification of the Newton algorithm applied to nonholonomic motion planning with energy optimization. The energy optimization is performed either by optimizing motion in the null space of the Jacobian matrix derived from the nonholonomic system or coupling this motion with movement toward the goal. Resulting controls are smooth and easily generated by motors or thrusters. The two methods can be used, when kinematics are considered, to steer any driftless nonholonomic systems… CONTINUE READING
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