Detail publikace

Qualitative Analysis of a Robot Control Based on Sub-Riemannian Distance

BARTOŇOVÁ, L.

Anglický název

Qualitative Analysis of a Robot Control Based on Sub-Riemannian Distance

Typ

článek ve sborníku ve WoS nebo Scopus

Jazyk

en

Originální abstrakt

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.

Anglický abstrakt

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.

Klíčová slova anglicky

Nonholonomic kinematics, Local control, Snake robot, Sub-Riemannian distance

Vydáno

01.02.2018

Nakladatel

Springer International Publishing AG

Místo

Switzerland

ISBN

978-3-319-76072-8

ISSN

0302-9743

Kniha

Modelling and Simulation for Autonomous Systems

Ročník

10756

Číslo edice

1

Strany od–do

193–203

Počet stran

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"
}