OPTIMAL CONTROL OF A NONHOLONOMIC MOTION PLANNING FOR MUTILBODY SYSTEMS

Nonholonomicity arises in many mechanical systems subjected to nonintegrable velocity constraints or nonintegrable conservation laws. Due to nonholonomic constraints, the motion planning and control of a nonholonomic mutilbody system is much more difficult than that of a conventional system. Nonholonomic characteristic and controllable condition are investigated using the infinite dimension optimization and the control theory, regarding the system's dissipation energy as a target function and considering the nonholonomic characteristic, a numerical method for the nonholonmic motion planning without drift is proposed. The effectiveness of the numerical algorithm is demonstrated by numerical simulation.