The three-link nonholonomic snake as a hybrid kinodynamic system
The three-link nonholonomic snake as a hybrid kinodynamic system
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作为混合动力系统的三连杆非完整蛇
DOI：
10.1109/acc.2016.7526820
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发表时间：
2016
期刊：
影响因子：
--
通讯作者：
H. Choset
中科院分区：
文献类型：
--
作者：
Tony Dear;S. Kelly;M. Travers;H. Choset
运动规划者经常避免所谓的奇异配置的一个运动系统，因为他们可以改变系统的动力学，并导致它招致无限的输入控制器成本。然而，这样的配置也可以允许系统展现新的运动模式，其可以被并入到先前建立的规划技术中。在这里，我们采取了非完整运动系统，并提出了形式主义表示它作为一个混合系统，利用奇异配置和相关的动力学。我们展示了如何实现的过渡映射的操作模式之间，允许驱动关节成为被动或锁定，规避问题与无界约束力。这个新的模型提供了一个新的能力，利用漂移动力学和滚动运动，我们证明了使用开关控制器，涉及建立运动学技术和初步的动态机动。
Motion planners often avoid the so-called singular configurations of a locomoting system because they can change a system's dynamics and cause it to incur unbounded input controller costs. However, such configurations can also allow a system to exhibit new modes of locomotion, which can be incorporated into previously established planning techniques. Here we take a nonholonomic kinematic system and present the formalism for representing it as a hybrid system taking advantage of the singular configuration and the associated dynamics. We show how to achieve the transition maps between the modes of operation by allowing actuated joints to become passive or locked, circumventing problems with unbounded constraint forces. This new model offers a new capability to take advantage of drift dynamics and rolling motions, which we demonstrate using a switching controller involving established kinematic techniques and preliminary dynamic maneuvers.