By Topic

Minimum control-switch motions for the snakeboard: a case study in kinematically controllable underactuated systems

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Iannitti, S. ; Agenzia Spaziale Italiana, Rome, Italy ; Lynch, K.M.

We study the problem of computing an exact motion plan for the snakeboard, an underactuated system subject to nonholonomic constraints, by exploiting its kinematic controllability properties and its decoupling vector fields. Decoupling vector fields allow us to plan motions for the underactuated dynamic system as if it were kinematic, and rest-to-rest paths are the concatenation of integral curves of the decoupling vector fields. These paths can then be time-scaled according to actuator limits to yield fast trajectories. Switches between decoupling vector fields must occur at zero velocity, so, to find fast trajectories, we wish to find paths minimizing the number of switches. In this paper, we solve the minimum-switch path-planning problem for the snakeboard. We consider two problems: 1) finding motion plans achieving a desired position and orientation of the body of the snakeboard and 2) the full problem of motion planning for all five configuration variables of the snakeboard. The first problem is solvable in closed form by geometric considerations, while the second problem is solved by a numerical approach with guaranteed convergence. We present a complete characterization of the snakeboard's minimum-switch paths.

Published in:

Robotics, IEEE Transactions on  (Volume:20 ,  Issue: 6 )