Nonholonomic motion planning: steering using bang-bang control

This paper studied the motion planning of nonholonomic systems. A method based on bang-bang control is proposed for n-dimensional chained form systems with two inputs in this paper. The method operates by switching between two kinds of inputs at time sequences to steer the system from initial configuration to an arbitrary final configuration. An algorithm is proposed to calculate time sequences of switching. At last, a numerical example and simulation results show the effectiveness of the proposed method.