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| Quasi-newton method to nonholonomic motion planning of a sort of multi-body systems |
| Revised:August 21, 2004 |
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| DOI：10.7511/jslx20065103 |
| KeyWord:multi-body system,nonholonomic constraint,motion planning,optimal control,quasi-Newton method |
| GE Xin-sheng WEI Bao-gang WANG Qi |
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| Abstract: |
| The motion planning problem of a nonholonomic multi-body system is investigated in this paper.Nonholonomicity arises in many multi-body systems subject to nonintegrable velocity constraints or nonintegrable conservation laws.When the total angular momentum is zero,the control problem of system can be converted to the motion planning problem for a driftless control system.The equation of dynamics of multi-body chain system with free floating is obtained by using the momentum theorem.Based on the input parameterization,the continuous optimal control problem is transformed into the discrete one.The quasi-Newton method of motion planning for nonholonomic multi-body system is proposed.The effectiveness of the numerical algorithm is demonstrated by numerical simulation. |
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