Trajectory Generation for the N-Trailer Problem using Goursat Normal Form (1993)
by
D. Tilbury
,
R. M. Murray
,
S. Sastry
| Citations: | 52 - 8 self |
BibTeX
@MISC{Tilbury93trajectorygeneration,
author = {D. Tilbury and R. M. Murray and S. Sastry},
title = {Trajectory Generation for the N-Trailer Problem using Goursat Normal Form},
year = {1993}
}
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Abstract
this paper, we show how the machinery of exterior differential systems can be used to help solve nonholonomic motion planning problems. Since the Goursat normal form for exterior differential systems is dual to chained form for vector fields, we solve the problem of steering a mobile robot with n
