Controlling independently the heading and the position of a Dubins car using Lie brackets
Fuente:
arXiv
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| Format: | Preprint |
| Published: |
2024
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| _version_ | 1866915047431733248 |
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| author | Jaulin, Luc |
| author_facet | Jaulin, Luc |
| contents | In this paper, we give a control approach to follow a trajectory for a Dubins car controlling the heading independently. The difficulty is that the Dubins car should have a heading corresponding to the argument of the vector speed of the vehicle. This non holonomic constraint can be relaxed thanks to a specific control which uses Lie brackets. We will show such a control will allow us, at least from a theoretical point of view, to control independently the moving position of the car and the heading. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2412_02709 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Controlling independently the heading and the position of a Dubins car using Lie brackets Jaulin, Luc Optimization and Control In this paper, we give a control approach to follow a trajectory for a Dubins car controlling the heading independently. The difficulty is that the Dubins car should have a heading corresponding to the argument of the vector speed of the vehicle. This non holonomic constraint can be relaxed thanks to a specific control which uses Lie brackets. We will show such a control will allow us, at least from a theoretical point of view, to control independently the moving position of the car and the heading. |
| title | Controlling independently the heading and the position of a Dubins car using Lie brackets |
| topic | Optimization and Control |
| url | https://arxiv.org/abs/2412.02709 |