Optimal control of nonholonomic motion planning for a free-falling cat

被引：0
|
作者：
Xin-sheng Ge
Li-qun Chen
机构：
[1] Beijing Institute of Machinery,Mechanical Engineering Department
[2] Shanghai University,Shanghai Institute of Applied Mathematics and Mechanics
来源：
Applied Mathematics and Mechanics | 2007年 / 28卷
关键词：
free-falling cat; nonholonomic constraint; motion planning; optimal control; O302; 49M15; 70E55; 70F25;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
The nonholonomic motion planning of a free-falling cat is investigated. Nonholonomicity arises in a free-falling cat subject to nonintegrable angle velocity constraints or nonintegrable conservation laws. When the total angular momentum is zero, the motion equation of a free-falling cat is established based on the model of two symmetric rigid bodies and conservation of angular momentum. The control of system can be converted to the problem of nonholonomic motion planning for a free-falling cat. Based on Ritz approximation theory, the Gauss-Newton method for motion planning by a falling cat is proposed. The effectiveness of the numerical algorithm is demonstrated through simulation on model of a free-falling cat.
引用
收藏
页码：601 / 607
页数：6
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