Pathplanning oftheNonholonomic PoleClimbing Robot
Majid Nili Ahmadabadi · 2006
mniligut.ac.ir Abstract -Thispaperdealswiththepathplanning ofthe nonholonomic poleclimbing robot, UT-PCR.Thestate equations inthevelocity spacearefirst derived inwhichthenonholonomic constraint iseasily shown.Subsequently, according tothederived equations and considering the nonholonomic constraint, canonical pathsaredefined anda suitable control methodis obtained. Finally, thepracticality oftheproposed methodis tested viasimulation onthemodeloftheUT-PCR. IndexTerms- Nonholonomic systems, Pathplanning, Canonicalpath, Climbing robot. I.INTRODUCTION