By Topic

Steering nonholonomic systems via nilpotent approximations: the general two-trailer system

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
$31 $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)
Vendittelli, M. ; Dipt. di Inf. e Sistemistica, Rome Univ., Italy ; Oriolo, G. ; Laumond, J.-P.

Existing methods for nonholonomic motion planning can only be applied to exactly nilpotentizable or flat systems. For nonholonomic systems that do not fall into the above classes, we conjecture that globally defined nilpotent approximations will allow the synthesis of efficient steering and stabilization strategies. In the paper, a car towing two off-hooked trailers is considered as a case study. First, it is shown how to derive a nilpotent approximation that is valid in the neighborhood of both regular and singular points. Then, such approximate model is used to compute steering controls. Simulation results are reported to show the satisfactory performance of the method

Published in:

Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on  (Volume:1 )

Date of Conference: