Abstract
This paper revises and extends our earlier work in using sinusoids to steer systems with nonholonomic constraints. We show that simple sinusoidal input trajectories are not easily applied to some classes of nonholonomic systems. This leads to the definition of a form of systems which can be steered using our earlier methods. We describe this form in detail and present preliminary efforts towards understanding when systems can be converted into this form.
Research supported in part by the National Science Foundation under grant IRI-90-14490
This research was performed while the author was at the University of California, Berkeley
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Murray, R.M., Sastry, S.S. (1993). Steering Nonholonomic Control Systems Using Sinusoids. In: Li, Z., Canny, J.F. (eds) Nonholonomic Motion Planning. The Springer International Series in Engineering and Computer Science, vol 192. Springer, Boston, MA. https://doi.org/10.1007/978-1-4615-3176-0_2
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DOI: https://doi.org/10.1007/978-1-4615-3176-0_2
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