@inproceedings{98f1c8b537b94d999bceb85b061b4ca1,
title = "Trajectory planning and open loop control for nonholonomic control systems",
abstract = "Tracking and/or point to point motion for Nonholonomic Controllable nonlinear systems is considered in this paper. These nonlinear systems have drift free dynamics with fewer controls than states. In particular, we utilize the Trajectory Pattern Method in order to attain the necessary open-loop control signals for tracking and/or point to point motion for nonholonomic systems of any finite degree. The Trajectory Pattern Method is applied to the unicycle and front-wheel car motion planning problems. An adaptive scheme for uncertain nonholonomic systems is discussed. Finally, the time optimal control problem for nonholonomic systems is addressed.",
keywords = "Controllability, Inversion, Nonholonomic systems, Robust, Trajectory pattern",
author = "Z. Retchkiman and F. Khorrami and J. Rastegar",
note = "Funding Information: ^This work is supported in part by the U.S. Army Research Office under grant #DAAH04-93-2-0009. Publisher Copyright: {\textcopyright} 1994 American Society of Mechanical Engineers (ASME). All rights reserved.; ASME 1994 Design Technical Conferences, DETC 1994, collocated with the ASME 1994 International Computers in Engineering Conference and Exhibition and the ASME 1994 8th Annual Database Symposium ; Conference date: 11-09-1994 Through 14-09-1994",
year = "1994",
doi = "10.1115/DETC1994-0326",
language = "English (US)",
series = "Proceedings of the ASME Design Engineering Technical Conference",
publisher = "American Society of Mechanical Engineers (ASME)",
pages = "223--228",
booktitle = "23rd Biennial Mechanisms Conference",
}