GLOBAL PROPERTIES OF LINEAR CONSTRAINTS IN STATE-SPACE AND MOTION PLANNING

Authors
CHEN B ZHU HP
Citation
B. Chen et Hp. Zhu, GLOBAL PROPERTIES OF LINEAR CONSTRAINTS IN STATE-SPACE AND MOTION PLANNING, Science in China. Series A, Mathematics, Physics, Astronomy & Technological Sciences, 40(7), 1997, pp. 745-754
Citations number
11
Categorie Soggetti
Multidisciplinary Sciences
Journal title
Science in China. Series A, Mathematics, Physics, Astronomy & Technological Sciences → ACNP
ISSN journal
10016511
Volume
40
Issue
7
Year of publication
1997
Pages
745 - 754
Database
ISI
SICI code
1001-6511(1997)40:7<745:GPOLCI>2.0.ZU;2-M
Abstract
Study of nonholonomic motion planning needs further research into the global properties of linear constraints in state space. The global pro perties of constraints, which contain the holonomicity and the nonholo nomicity by regions, the existence of the isolated integral manifolds and the singular points and so on, have essential influence on motion planning. By analysis of the point sets in total space, the complete s ketch of the global properties of linear constraints in state space is obtained, which can directly be applied to motion planning.