Optimal motion planning for non-holonomic robotic systems

摘要

The kinematic motion planning problem for non-holonomic robotic systems is studied as an optimal control problem. It is shown that the Jacobian motion planning algorithms designed within the Endogenous Configuration Space Approach are instances of the Sequential Linear Quadratic Optimal Control and the Sequential Quadratic Programming. A Lagrangian Jacobian motion planning algorithm is designed in parametric version, equivalent to the procedure of the Sequential Quadratic Programming. Two computational examples illustrate the algorithm's performance.