By Topic

Extended Goursat normal forms with applications to nonholonomic motion planning

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

3 Author(s)
L. Bushnell ; Dept. of Electr. Eng. & Comput. Sci., California Univ., Berkeley, CA, USA ; D. Tilbury ; S. Sastry

The theme of this paper is the generalization of Goursat normal forms for Pfaffian systems with co-dimension greater than two. There are necessary and sufficient conditions for the existence of coordinates that transform a Pfaffian system with co-dimension greater than two into an extended Goursat normal form, which is the dual of the multiple-chain, single-generator chained form mentioned in our earlier work (1993). In this paper, we concentrate on how to find such coordinate transformations for multisteering, multitrailer mobile robot systems so that we can use available steering and stabilization algorithms for nonholonomic motion planning. We present a methodology for constructing a coordinate transformation and apply it to the example of a five-axle, two-steering mobile robot

Published in:

Decision and Control, 1993., Proceedings of the 32nd IEEE Conference on

Date of Conference:

15-17 Dec 1993