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, Jean-Claude

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 well-known 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 n-body 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