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lie algebraic method

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Velocity space approach to motion planning of nonholonomic systems
Ignacy Duleba, Wissem Khefifi
Journal:

Robotica / Volume 25 / Issue 3 / May 2006

Published online by Cambridge University Press:

01 May 2007, pp. 359-366
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In this paper, a velocity space method of motion planning for nonholonomic systems is presented. This method, based on Lie algebraic principles and locally around consecutive current states, plans a motion towards a goal. It is effective as most of the computations can be carried out analytically. This method is illustrated on the unicycle robot and the inverted pendulum.