CaltechAUTHORS
  A Caltech Library Service

A controllability test and motion planning primitives for overconstrained vehicles

Murphey, T. D. and Burdick, J. W. (2001) A controllability test and motion planning primitives for overconstrained vehicles. In: Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation. Vol.3. IEEE , Piscataway, NJ, pp. 2716-2722. ISBN 0-7803-6576-3. https://resolver.caltech.edu/CaltechAUTHORS:20190625-085525709

[img] PDF - Published Version
See Usage Policy.

771Kb

Use this Persistent URL to link to this item: https://resolver.caltech.edu/CaltechAUTHORS:20190625-085525709

Abstract

Conventional nonholonomic motion planning and control theories do not directly apply to "overconstrained vehicles", such as the Sojourner vehicle of the Mars Pathfinder mission. This paper discusses some basic issues of motion planning and control for this potentially important class of mobile robots. A power dissipation approach is used to model the governing equations of overconstrained vehicles that move quasi-statically. These equations are shown to be switched hybrid systems. Notions from standard geometric control, such as the Lie bracket, are extended to these switched systems. We then develop a controllability test for such systems. We explore motion planning primitives in the context of simplified examples.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/ROBOT.2001.933033DOIArticle
Additional Information:© 2001 IEEE. This work was partially supported by the National Science Foundation (Grant #NSF9402726) through their Engineering Research Center (ERC) program.
Funders:
Funding AgencyGrant Number
NSFEEC-9402726
Subject Keywords:Overconstrained wheeled vehicles, switched systems, controllability, motion planning
Record Number:CaltechAUTHORS:20190625-085525709
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20190625-085525709
Official Citation:T. D. Murphey and J. W. Burdick, "A controllability test and motion planning primitives for overconstrained vehicles," Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164), Seoul, South Korea, 2001, pp. 2716-2722 vol.3. doi: 10.1109/ROBOT.2001.933033
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:96684
Collection:CaltechAUTHORS
Deposited By: Tony Diaz
Deposited On:25 Jun 2019 17:31
Last Modified:03 Oct 2019 21:24

Repository Staff Only: item control page