A Nonholonomic Motion Planning and Control Based on Chained Form Transformation

The chained form system is a controllable nonholonomic system, wherein the motion planning and control had been often researched. Therefore, based on the chained form transformation, the motion planning and control of nonholonomic system can be researched by the motion planning and control of chained form system. According to this thought, motion planning and control of nonholonomic multi-joint manipulator were researched in this paper. A method of nonholonomic motion planning and control was proposed by the chained form transformation, and validity of the method was proved by computer simulation