TY - GEN
T1 - New method for motion planning for non-holonomic systems using partial differential equations
AU - Belabbas, Mohamed Ali
AU - Liu, Shenyu
N1 - Funding Information:
The work of M.-A. Belabbas was partially supported by the NSF grants ECCS-1351586 CAREER and ECCS-1307791.
PY - 2017/6/29
Y1 - 2017/6/29
N2 - We present in this paper a novel approach to the long-standing problem of motion planning for non-holonomic systems. Our method is built upon a parabolic partial differential equation that arises in the study of Riemannian manifold. We show how it can be brought to bear to provide a solution to a non-holonomic motion planning problem. We illustrate the method on canonical examples, namely the unicycle, the non-holonomic integrator, and the parallel parking task for a non-holonomic car model. We also brie#y address computational issues pertinent to solving this particular partial differential equation, and point out the existence of fast algorithms and the fact that the problem is easily parallelizable.
AB - We present in this paper a novel approach to the long-standing problem of motion planning for non-holonomic systems. Our method is built upon a parabolic partial differential equation that arises in the study of Riemannian manifold. We show how it can be brought to bear to provide a solution to a non-holonomic motion planning problem. We illustrate the method on canonical examples, namely the unicycle, the non-holonomic integrator, and the parallel parking task for a non-holonomic car model. We also brie#y address computational issues pertinent to solving this particular partial differential equation, and point out the existence of fast algorithms and the fact that the problem is easily parallelizable.
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U2 - 10.23919/ACC.2017.7963599
DO - 10.23919/ACC.2017.7963599
M3 - Conference contribution
AN - SCOPUS:85027023876
T3 - Proceedings of the American Control Conference
SP - 4189
EP - 4194
BT - 2017 American Control Conference, ACC 2017
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2017 American Control Conference, ACC 2017
Y2 - 24 May 2017 through 26 May 2017
ER -