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Program Systems: Theory and Applications, 2012, Volume 3, Issue 1, Pages 3–29
(Mi ps63)
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This article is cited in 5 scientific papers (total in 5 papers)
Optimization Methods and Control Theory
Algorithms and Software Solving a Motion Planning Problem for Nonholonomic Five-dimensional Control Systems
A. P. Mashtakov Program Systems Institute of RAS, Pereslavl'-Zalesskii, Yaroslavskaya obl.
Abstract:
In this paper we consider a motion planning problem for nonlinear fifth dimensional systems with two-dimensional linear control. An iterative algorithm based on nilpotent approximation finds the approximate solution of the problem in the classes of piecewise constant and optimal controls. We present implementation of the algorithm in a parallel package for Wolfram Mathematica. The package was applied for the plate-ball problem and for the motion planning problem of car with two trailers on a plain.
Key words and phrases:
Plate-ball problem, car with two trailers, nilpotent approximation, iterative algorithm, optimal control.
Citation:
A. P. Mashtakov, “Algorithms and Software Solving a Motion Planning Problem for Nonholonomic Five-dimensional Control Systems”, Program Systems: Theory and Applications, 3:1 (2012), 3–29
Linking options:
https://www.mathnet.ru/eng/ps63 https://www.mathnet.ru/eng/ps/v3/i1/p3
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Statistics & downloads: |
Abstract page: | 340 | Full-text PDF : | 129 | References: | 50 | First page: | 1 |
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