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W referacie postawiono zadanie doboru konfiguracji początkowej w planowaniu ruchu układów nieholonomicznych do zadanego punktu w przestrzeni zadaniowej. Zaproponowano, bazujący na algebrze Liego, algorytm oceny jakości tej konfiguracji. Za pomocą metod korelacyjnych sprawdzono zależność pomiędzy oceną Lie-algebraiczną a energią planowanego ruchu. Efektywny wybór konfiguracji początkowej (pośrednie...
In this paper a small time local controllability, naturally defined in a configuration space, is transferred into a task-space. It was given its analytical characterization and practical implcations. A special attention was put on singular configurations. Theoretical considerations were illustrated with two calculation examples. An extensive comparison of the proposed construction with the controllability...
In this paper an accuracy of local motion planning based on the generalized Campbell-Baker-Hausdorff-Dynkin formula was evaluated for a few nonholonomic robotic systems. For a given set of controls, an exact trajectory is computable via an integration of equations of motion. This reference trajectory is compared with with a trajectory based on shrinked versions of the gCBHD formula. An impact of controls...
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