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Control of Nonholonomic Systems: from Sub-Riemannian Geometry to Motion Planning

Control of Nonholonomic Systems: from Sub-Riemannian Geometry to Motion Planning

von Frédéric Jean
Softcover - 9783319086897
74,89 €
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Beschreibung

Nonholonomic systems are control systems which depend linearly on the control. Their underlying geometry is the sub-Riemannian geometry, which plays for these systems the same role as Euclidean geometry does for linear systems. In particular the usual notions of approximations at the first order, that are essential for control purposes, have to be defined in terms of this geometry. The aim of these notes is to present these notions of approximation and their application to the motion planning problem for nonholonomic systems.

Details

Verlag Springer International Publishing
Ersterscheinung 30. Juli 2014
Maße 23.5 cm x 15.5 cm
Gewicht 189 Gramm
Format Softcover
ISBN-13 9783319086897
Seiten 104

Schlagwörter

Artificial Intelligence, Computer Science, Differential Geometry, Differentielle und Riemannsche Geometrie, Informatik, Kybernetik und Systemtheorie, Künstliche Intelligenz, Mathematics, Mathematik, Systems Theory - Control

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