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Published May 1993 | Published
Journal Article Open

Nonholonomic motion planning: steering using sinusoids


Methods for steering systems with nonholonomic constraints between arbitrary configurations are investigated. Suboptimal trajectories are derived for systems that are not in canonical form. Systems in which it takes more than one level of bracketing to achieve controllability are considered. The trajectories use sinusoids at integrally related frequencies to achieve motion at a given bracketing level. A class of systems that can be steered using sinusoids (claimed systems) is defined. Conditions under which a class of two-input systems can be converted into this form are given.

Additional Information

© 1993 IEEE. Reprinted with permission. Manuscript received May 22, 1991; revised April 5, 1992. Paper recommended by Associate Editor, A. H. Abed. This work was supported in part by the NSF under Grant IRI-90-14490. The authors would like to thank Roger Brockett, Alberto Isidori, Jean-Paul Laumond, Zexiang Li, Richard Montgomery, Hector Sussmann, Dawn Tilbury, Greg Walsh, and the members of the UC Berkeley Robotics Lab for many useful discussions in the area of nonholonomic motion planning.

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