Nilpotentization of the kinematics of the n-trailer system at singular points and motion planning through the singular locus

Abstract : We propose in this paper a constructive procedure that transforms locally, even at singular configurations, the kinematics of a car towing trailers into Kumpera-Ruiz normal form. This construction converts the nonholonomic motion planning problem into an algebraic problem (the resolution of a system of polynomial equations), which we illustrate by steering the two-trailer system in a neighborhood of singular configurations. We show also that the n-trailer system is a universal local model for all Goursat structures and that all Goursat structures are locally nilpotentizable.
Complete list of metadatas

https://hal.archives-ouvertes.fr/hal-00128207
Contributor : Import Arxiv <>
Submitted on : Wednesday, January 31, 2007 - 10:42:19 AM
Last modification on : Thursday, February 7, 2019 - 2:20:18 PM

Links full text

Identifiers

Citation

William Pasillas-Lepine, Witold Respondek. Nilpotentization of the kinematics of the n-trailer system at singular points and motion planning through the singular locus. International Journal of Control, Taylor & Francis, 2001, 74, pp.628-637. ⟨hal-00128207⟩

Share

Metrics

Record views

131