%0 Journal Article
%T Multiple-task motion planning of non-holonomic systems with dynamics
%A A. Ratajczak
%A K. Tcho¨½
%J Mechanical Sciences (MS)
%D 2013
%I Copernicus Publications
%R 10.5194/ms-4-153-2013
%X This paper addresses the motion planning problem in non-holonomic robotic systems. The system's kinematics and dynamics are represented as a control affine system with outputs. The problem is defined in terms of the end-point map of this system, using the endogenous configuration space approach. Special attention is paid to the multiple-task motion planning problem, i.e. a problem that beyond the proper motion planning task includes a number of additional tasks. For multiple-task motion planning two strategies have been proposed, called the egalitarian approach and the prioritarian approach. Also, two computational strategies have been launched of solving the motion planning problem: the parametric and the non-parametric. The motion planning and computational strategies have been applied to a motion planning problem of the trident snake robot. Performance of the motion planning algorithms is illustrated with computer simulations.
%U http://www.mech-sci.net/4/153/2013/ms-4-153-2013.html