
Accession Number : ADA326998
Title : Controllability of Mobile Robots with Kinematic Constraints.
Descriptive Note : Research rept.,
Corporate Author : STANFORD UNIV CA DEPT OF COMPUTER SCIENCE
Personal Author(s) : Barraquand, Jerome ; Latombe, JeanClaude
PDF Url : ADA326998
Report Date : JUN 1990
Pagination or Media Count : 27
Abstract : This report addresses the controllability problem for robot systems subject to kinematic constraints on the velocity and its application to path planning. It is shown that the wellknown Controllability Rank Condition Theorem is applicable to these systems when there are inequality constraints on the velocity in addition to equality constraints, and/or when the constraints are nonlinear instead of linear. This allows us to infer a whole set of new results on the controllability of robotic systems subject to nonintegrable kinematic constraints (called nonholonomic systems). A car with limited steering angle is one example of such a system. For example, we show that: (1) An n body car system, which consists of a car towing n  1 trailers, is controllable for n < 4 even if the steering angle is limited; (2) An nbody car (n < 4) that can only turn left is still maneuverable on the right; (3) If there is a path for an n body car system (n < 4) with limited steering angle in a given environment then there is another path that uses only the extremal values of the steering angle. It is conjectured that these results are true for all n.
Descriptors : *KINEMATICS, *ROBOTS, *PATHS, *MOBILE, *N BODY PROBLEM, CONTROL, ANGLES, STEERING, ROBOTICS, PLANNING, AUTOMOTIVE VEHICLES, RANK ORDER STATISTICS, TOWING, THEOREMS.
Subject Categories : Cybernetics
Mechanics
Distribution Statement : APPROVED FOR PUBLIC RELEASE