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A Motion-Planning Algorithm for the Rolling-Body Problem
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AI
DOI：10.1109/TRO.2010.2053733.png)
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Abstract
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In this paper, we consider the control system S defined by the rolling of a strictly convex surface S of IR(3) on a plane without slipping or spinning. The purpose of this paper is to present the numerical implementation of a constructive planning algorithm for Sigma, which is based on a continuation method. The performances of that algorithm, both in robustness and convergence speed, are illustrated through several examples.
Keywords:
Manipulation planning
nonholonomic motion planning
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