Steering for a class of dynamic nonholonomic systems

摘要

We derive control algorithms for a class of dynamic nonholonomic steering problems, characterized as mechanical systems with nonholonomic constraints and symmetries. We use a simplified geometric framework in developing two types of control algorithms for such systems. The first targets local configuration controllability, using a perturbation approach to establish results similar to steering using sinusoids. The second method builds on this approach by utilizing kinematic steering algorithms for mobile robots in generating more nonlocal motion plans for this class of systems.