Publication detail
Qualitative Analysis of a Robot Control Based on Sub-Riemannian Distance
BARTOŇOVÁ, L.
English title
Qualitative Analysis of a Robot Control Based on Sub-Riemannian Distance
Type
conference paper
Language
en
Original abstract
We present a qualitative analysis of a snake-like robot local control models based on sub-Riemannian distance. More precisely, we compare two control models of a 4-link robotic snake with respect to the sub-Riemannian length of a curve in the phase space corresponding to a given motion. We evaluate a particular example of a local motion planning algorithm realized in a general and approximated model.
English abstract
We present a qualitative analysis of a snake-like robot local control models based on sub-Riemannian distance. More precisely, we compare two control models of a 4-link robotic snake with respect to the sub-Riemannian length of a curve in the phase space corresponding to a given motion. We evaluate a particular example of a local motion planning algorithm realized in a general and approximated model.
Keywords in English
Nonholonomic kinematics, Local control, Snake robot, Sub-Riemannian distance
Released
01.02.2018
Publisher
Springer International Publishing AG
Location
Switzerland
ISBN
978-3-319-76072-8
ISSN
0302-9743
Book
Modelling and Simulation for Autonomous Systems
Volume
10756
Edition number
1
Pages from–to
193–203
Pages count
11
BIBTEX
@inproceedings{BUT157505,
author="Ludmila {Bartoňová},
title="Qualitative Analysis of a Robot Control Based on Sub-Riemannian Distance",
booktitle="Modelling and Simulation for Autonomous Systems",
year="2018",
volume="10756",
month="February",
pages="193--203",
publisher="Springer International Publishing AG",
address="Switzerland",
isbn="978-3-319-76072-8",
issn="0302-9743"
}