Development of Task-Space Nonholonomic Motion Planning Algorithm Based on Lie-Algebraic Method

In this paper, a Lie-algebraic nonholonomic motion planning technique, originally designed to work in a configuration space, was extended to plan a motion within a task-space resulting from an output function considered. In both planning spaces, a generalized Campbell–Baker–Hausdorff–Dynkin formula...

Descripción completa

Guardado en:

Detalles Bibliográficos
Autores principales:	Arkadiusz Mielczarek, Ignacy Dulęba
Formato:	article
Lenguaje:	EN
Publicado:	MDPI AG 2021
Materias:	nonholonomic systems motion planning Lie algebraic method configuration space task-space Technology T Engineering (General). Civil engineering (General) TA1-2040 Biology (General) QH301-705.5 Physics QC1-999 Chemistry QD1-999
Acceso en línea:	https://doaj.org/article/39a31b9ee9fb4ac6af023e0e7072ee56
Etiquetas:	Agregar Etiqueta Sin Etiquetas, Sea el primero en etiquetar este registro!

id	oai:doaj.org-article:39a31b9ee9fb4ac6af023e0e7072ee56
record_format	dspace
spelling	oai:doaj.org-article:39a31b9ee9fb4ac6af023e0e7072ee562021-11-11T15:17:13ZDevelopment of Task-Space Nonholonomic Motion Planning Algorithm Based on Lie-Algebraic Method10.3390/app1121102452076-3417https://doaj.org/article/39a31b9ee9fb4ac6af023e0e7072ee562021-11-01T00:00:00Zhttps://www.mdpi.com/2076-3417/11/21/10245https://doaj.org/toc/2076-3417In this paper, a Lie-algebraic nonholonomic motion planning technique, originally designed to work in a configuration space, was extended to plan a motion within a task-space resulting from an output function considered. In both planning spaces, a generalized Campbell–Baker–Hausdorff–Dynkin formula was utilized to transform a motion planning into an inverse kinematic task known for serial manipulators. A complete, general-purpose Lie-algebraic algorithm is provided for a local motion planning of nonholonomic systems with or without output functions. Similarities and differences in motion planning within configuration and task spaces were highlighted. It appears that motion planning in a task-space can simplify a planning task and also gives an opportunity to optimize a motion of nonholonomic systems. Unfortunately, in this planning there is no way to avoid working in a configuration space. The auxiliary objective of the paper is to verify, through simulations, an impact of initial parameters on the efficiency of the planning algorithm, and to provide some hints on how to set the parameters correctly.Arkadiusz MielczarekIgnacy DulębaMDPI AGarticlenonholonomic systemsmotion planningLie algebraic methodconfiguration spacetask-spaceTechnologyTEngineering (General). Civil engineering (General)TA1-2040Biology (General)QH301-705.5PhysicsQC1-999ChemistryQD1-999ENApplied Sciences, Vol 11, Iss 10245, p 10245 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	nonholonomic systems motion planning Lie algebraic method configuration space task-space Technology T Engineering (General). Civil engineering (General) TA1-2040 Biology (General) QH301-705.5 Physics QC1-999 Chemistry QD1-999
spellingShingle	nonholonomic systems motion planning Lie algebraic method configuration space task-space Technology T Engineering (General). Civil engineering (General) TA1-2040 Biology (General) QH301-705.5 Physics QC1-999 Chemistry QD1-999 Arkadiusz Mielczarek Ignacy Dulęba Development of Task-Space Nonholonomic Motion Planning Algorithm Based on Lie-Algebraic Method
description	In this paper, a Lie-algebraic nonholonomic motion planning technique, originally designed to work in a configuration space, was extended to plan a motion within a task-space resulting from an output function considered. In both planning spaces, a generalized Campbell–Baker–Hausdorff–Dynkin formula was utilized to transform a motion planning into an inverse kinematic task known for serial manipulators. A complete, general-purpose Lie-algebraic algorithm is provided for a local motion planning of nonholonomic systems with or without output functions. Similarities and differences in motion planning within configuration and task spaces were highlighted. It appears that motion planning in a task-space can simplify a planning task and also gives an opportunity to optimize a motion of nonholonomic systems. Unfortunately, in this planning there is no way to avoid working in a configuration space. The auxiliary objective of the paper is to verify, through simulations, an impact of initial parameters on the efficiency of the planning algorithm, and to provide some hints on how to set the parameters correctly.
format	article
author	Arkadiusz Mielczarek Ignacy Dulęba
author_facet	Arkadiusz Mielczarek Ignacy Dulęba
author_sort	Arkadiusz Mielczarek
title	Development of Task-Space Nonholonomic Motion Planning Algorithm Based on Lie-Algebraic Method
title_short	Development of Task-Space Nonholonomic Motion Planning Algorithm Based on Lie-Algebraic Method
title_full	Development of Task-Space Nonholonomic Motion Planning Algorithm Based on Lie-Algebraic Method
title_fullStr	Development of Task-Space Nonholonomic Motion Planning Algorithm Based on Lie-Algebraic Method
title_full_unstemmed	Development of Task-Space Nonholonomic Motion Planning Algorithm Based on Lie-Algebraic Method
title_sort	development of task-space nonholonomic motion planning algorithm based on lie-algebraic method
publisher	MDPI AG
publishDate	2021
url	https://doaj.org/article/39a31b9ee9fb4ac6af023e0e7072ee56
work_keys_str_mv	AT arkadiuszmielczarek developmentoftaskspacenonholonomicmotionplanningalgorithmbasedonliealgebraicmethod AT ignacyduleba developmentoftaskspacenonholonomicmotionplanningalgorithmbasedonliealgebraicmethod
_version_	1718435744086753280

Development of Task-Space Nonholonomic Motion Planning Algorithm Based on Lie-Algebraic Method

Ejemplares similares