Nonholonomic Motion Planning for Free-Falling Cat Using Quasi-Newton Method
Wei Bao-gang · Jisuanji fangzhen · 2006
The motion planning problem of a free-falling cat was investigated.Nonholonomicity arises in a free-falling cat subject to nonintegrable velocity constraints or nonintegrable conservation laws.When the total angular momentum is zero,the attitude motion equations take on nonholonomic constraint.The control of system can be converted to the motion planning problem for a driftless system.The equation of dynamics of a free-falling cat wasobtained by using the model of two symmetric rigid bodies.Based on the input parameterization,the continuous optimal control problem was transformed into the discrete one.The quasi-Newton method of motion planning for nonholonomic multibody system was proposed.The effectiveness of the numerical algorithm is demonstrated by numerical simulation.