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

Download or read book Control of Nonholonomic Systems: from Sub-Riemannian Geometry to Motion Planning written by Frédéric Jean and published by Springer. This book was released on 2014-07-17 with total page 112 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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.