Study of nonholonomic motion planning needs further research into the global properties of linear constraints in state space.The global properties of constraints,which contain the holonomicity and the nonholonomici-ty...Study of nonholonomic motion planning needs further research into the global properties of linear constraints in state space.The global properties of constraints,which contain the holonomicity and the nonholonomici-ty 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 sketch of the global properties of linear constraints in state space is obtained,which can directly be applied to motion planning.展开更多
基金Project supported by the National Natural Science Foundation of ChinaDoctoral Programme Foundation Institution of High Education of China.
文摘Study of nonholonomic motion planning needs further research into the global properties of linear constraints in state space.The global properties of constraints,which contain the holonomicity and the nonholonomici-ty 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 sketch of the global properties of linear constraints in state space is obtained,which can directly be applied to motion planning.
