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Authors: Arkadiusz Mielczarek and Ignacy Duleba

Affiliation: Dept. of Cybernetics and Robotics, Wroclaw University of Science and Technology, Janiszewski St. 11/17, Wroclaw and Poland

Keyword(s): Nonholonomic System, Configuration Space, Output Space, Sphere, Motion Planning.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Mobile Robots and Autonomous Systems ; Robotics and Automation ; Vehicle Control Applications

Abstract: In this paper small radius spheres of driftless nonholonomic systems in an output space are analyzed. The nonholonomic systems appear frequently in mobile robotics. An algorithm is provided to compute the spheres extensively using a directional optimization and spherical coordinates. Illustrating examples are provided for two two-input nonholonomic systems. Results presented in this paper are important in motion planning of nonholonomic systems with outputs as a ready-to-use receipt is given how to shift a point in an output space in a desired direction. In practice, an effective short-distance motion planner is required while planning a motion in a space polluted with obstacles.

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Paper citation in several formats:
Mielczarek, A. and Duleba, I. (2019). Small Radius Spheres in Output Space of Nonholonomic Systems. In Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO; ISBN 978-989-758-380-3; ISSN 2184-2809, SciTePress, pages 316-322. DOI: 10.5220/0007840003160322

@conference{icinco19,
author={Arkadiusz Mielczarek. and Ignacy Duleba.},
title={Small Radius Spheres in Output Space of Nonholonomic Systems},
booktitle={Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO},
year={2019},
pages={316-322},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0007840003160322},
isbn={978-989-758-380-3},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO
TI - Small Radius Spheres in Output Space of Nonholonomic Systems
SN - 978-989-758-380-3
IS - 2184-2809
AU - Mielczarek, A.
AU - Duleba, I.
PY - 2019
SP - 316
EP - 322
DO - 10.5220/0007840003160322
PB - SciTePress

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