Const rained Motion Planning: Applications in Mobile Robotics and in Maintenance Operations Nonlinear control system
Jean-Paul Laumond, Mark Overmars · 1997
We consider a system % whose kinematic constraints are modeled with a control system equation (i) q € C is a configuration, C the configuration space. u is the control parameter taken in a control space U(q) that depends on q. Kinematic constraints that are initially expressed with constraints of the form G(g, 0 or > 0, can be transformed [2] into such an equation. /(•) is assumed to be smooth.