Kinematic controllability and motion planning for the snakeboard
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Authors
Bullo, Francesco
Lewis, Andrew D.
Date
2003
Type
preprint
Language
en
Keyword
Alternative Title
Abstract
The snakeboard is shown to be kinematically controllable. Associated with the two decoupling vector fields for the problem, a constrained static nonlinear programming problem is posed whose solutions provide a solution to the problem of steering the snakeboard from a given configuration at rest to a desired configuration at rest. An explicit solution to the problem is provided, and the limitations of this explicit solution are discussed. A few ad hoc solutions to the nonlinear programming problem are also exhibited.
Description
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Citation
IEEE Transactions on Robotics and Automation 19(3), pages 494-498, 2003
Publisher
IEEE