non holonomic robotics systems

Optimal path planning for non holonomic robotics systems via parametric optimisation

FREE-DOWNLOAD [PDF] J Biggs – 2011
Abstract. Motivated by the path planning problem for robotic systems this paper considers nonholonomic
path planning on the Euclidean group of motions SE(n) which describes a rigid bodies path in
n-dimensional Euclidean space. The prob- lem is formulated as a constrained optimal