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文库首页信息化管理其它(The Springer International Series in Engineering and Computer S

(The Springer International Series in Engineering and Computer S

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(The Springer International Series in Engineering and Computer S 施普林格工程和计算机国际丛书

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NONHOLONOMIC

MOTION

PLANNING

THE

KLUWER

INTERNATIONAL

SERIES

ENGINEERING

AND

COMPUTER

SCIENCE

ROBOTICS: VISION, MANIPULATION AND SENSORS

Consulting Editor:

Takeo

Kanade

KINEMATIC

MODELING, IDENTIFICATION

AND

CONTROL

ROBOT

MANIPULATORS, H.W. Stone

ISBN: 0-89838-237-8

OBJECT

RECOGNITION USING VISION

AND

TOUCH, P. Allen

ISBN: 0-89838-245-9

INTEGRATION, COORDINATION

AND

CONTROL

MULTI-SENSOR

ROBOT

SYSTEMS, H.F. Durrant-Whyte

ISBN: 0-89838-247-5

BAYESIAN

MODEUNG

UNCERTAINTY

LOW-LEVEL VISION,

Szeliski

ISBN 0-7923-9039-3

VISION

AND

VIGATION: THE CMU

VLAB, C. Thorpe (editor)

ISBN 0-7923-9068-7

TASK-DIRECTED SENSOR FUSION

AND

PLANNING: A Computational Approach,

G. D. Hager

ISBN: 0-7923-9108-X

COMPUTER

ANALYSIS

VISUAL TEXTURES, F. Tomita and S. Tsuji

ISBN: 0-7923-9114-4

DATA FUSION FOR

SENSORY

INFORMATION PROCESSING

SYSTEMS,

J. Clark

and A Yuille

ISBN: 0-7923-9120-9

PARALLEL ARCHITECTURES

AND

PARALLEL ALGORITHMS FOR INTEGRATED

VISION SYSTEMS,

AN.

Choudhary, J.

Patel

ISBN: 0-7923-9078-4

ROBOT

MOTION

PLANNING, J. Latombe

ISBN: 0-7923-9129-2

DYNAMIC

ANALYSIS

ROBOT

MANIPULATORS: A Carlesian Tensor Approach,

C.A

Balafoutis, R.V. Patel

ISBN: 07923-9145-4

PERTURBATION TECHNIQUES FOR FLEXIBLE MANIPULATORS: A Fraser and

Daniel

ISBN: 0-7923-9162-4

COMPUTER AIDED MECHANICAL

ASSEMBLY

PLANNING: L. Homen de Mello and

S.Lee

ISBN: 0-7923-9205-1

INTELLIGENT

ROBOTIC SYSTEMS FOR SPACE EXPLORATION: Alan A Desrochers

ISBN: 0-7923-9197-7

MEASUREMENT

IMAGE

VELOCITY: David J. Fleet

ISBN: 0-7923-9198-5

DIRECTED SONAR SENSING FOR MOBILE

ROBOT

NAVIGATION: John J. Leonard,

Hugh F. Durrant-Whyte

ISBN: 0-7923-9242-6

A GENERAL MODEL

LEGGED LOCOMOTION

NATURAL TERRAIN: David

J. Manko

ISBN: 0-7923-9247-7

INTELLIGENT

ROBOTIC SYSTEMS: THEORY,

DESIGN

AND

APPLICATIONS K.

Valavanis, G. Saridis

ISBN:

0-7923-9250-7

QUALITATIVE MOTION UNDERSTANDING: W. Burger, B. Bhanu

ISBN: 0-7923-9251-5

NONHOLONOMIC

MOTION PLANNING

Edited by:

Zexiang Li

Dept.

Electrical & Electronic Engineering

Hong Kong University

Science & Technology

Clear Water Bay

Kowloon, Hong Kong

J.F. Canny

Dept.

Electrical Engineering & Computer Sciences

University

California at Berkeley

Berkeley,

94720

....

SPRINGER SCIENCE+BUSINESS MEDIA, LLC

Library

Congress Cataloging-in-Publication Data

Nonholonomic motion planning / edited by Zexiang

Li,

J.F.

Canny.

cm. -- (The Kluwer international series

engineering

and

computer science. Robotics)

Inc1udes bibliographical references

and

index.

ISBN 978-1-4613-6392-7 ISBN 978-1-4615-3176-0 (eBook)

DOI

10.1007/978-1-4615-3176-0

1. Robots--Motion.

Li,

Zexiang, 1961- .

II.

Canny, John.

III. Series.

TJ211.4.N66

1992

629.

92--dc20 92-27560

CIP

Originally published by Kluwer Academic Publishers in 1993

Softcover reprint

the hardcover 1 st edition 1993

Ali rights reserved.

part

this publication

may

reproduced, stored

a retrieval

system ar transmitted

any form or

any

means, mechanical, photo-copying, recording,

or otherwise, without

the

prior written permission of

the

publisher, Springer Science+

Business

Media,

LLC.

Printed on acid-free paper.

TABLE OF CONTENTS

Introduction

..................................

Vll

Non-holonomic Kinematics

and

the Role of Elliptic Functions

in Constructive Controllability - R.W. Brockett, Liyi Dai

.......

Steering Nonholonomic Control Systems Using Sinusoids -

Richard M. Murray,

Shankar Sastry

...................

Smooth Time-Periodic Feedback Solutions for Nonholonomic

Motion Planning -

Gurvits, Z.X. Li

...................

Lie Bracket Extensions

and

Averaging: The Single-Bracket

Case - Hector

Sussmann, Wensheng Liu

................

109

5. Singularities

and

Topological Aspects in Nonholonomic

Motion Planning - Jean-Paul Laumond

...................

149

Motion Planning for Nonholonomic Dynamic Systems-

Mahmut Reyhanoglu,

Harris McClamroch, Anthony

Bloch

201

A Differential Geometric Approach to Motion Planning-

Gerardo Lafferriere, Hector J. Sussmann

..................

235

Planning Smooth Paths for Mobile Robots-

Paul Jacobs, John Canny

............................

271

Nonholonomic Control

and

Gauge Theory-

Richard Montgomery . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

343

10.

Optimal Nonholonomic Motion Planning for a Falling Cat-

Fernandes,

Gurvits, Z.X. Li

.....................

379

11.

Nonholonomic Behavior in Free-floating Space Manipulators

and

its Utilization - Evangelos

Papadopoulos

.............

423

Index

.......................................

447

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