'Nonholonomic path' diaporamas de présentation

CS 326A: Motion Planning

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CS 326A: Motion Planning

CS 326A: Motion Planning. ai.stanford.edu/~latombe/cs326/2007/index.htm Non-Holonomic Motion Planning. Under-Actuated Robots. Fewer controls than dimensions in configuration space What is a degree of freedom: number of dimensions of C-space (global) or number of controls (local)?.

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CS 326 A: Motion Planning

CS 326 A: Motion Planning. http://robotics.stanford.edu/~latombe/cs326/2002 Nonholonomic Robots. d y /dx = tan q. d x /dt = v cos q d y /dt = v sin q. d q / d t = ( v / L ) tan f. | f | < F. Example: Car-Like Robot.

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