Holderbaum, William and Biggs, J.D. (2009) Oriented vehicles travelling in spherical space. In: The 11th IASTED International Conference on Control and its Applications, 2009-07-13 - 2009-07-15, Cambridge, UK.
Download (123kB) | Preview
This paper tackles the path planning problem for oriented vehicles travelling in the non-Euclidean 3-Dimensional space; spherical space S3 . For such problem the orientation of the vehicle is naturally represented by orthonormal frame bundle; the rotation group SO(4). Orthonormal frame bundles of space forms coincide with their isometry groups and therefore the focus shifts to control systems deﬁned on Lie groups. The oriented vehicles, in this case, are constrained to travel at constant speed in a forward direction and their angular velocities directly controlled. In this paper we identify controls that induce steady motions of these oriented vehicles and yield closed form parametric expressions for these motions. The paths these vehicles trace are deﬁned explicitly in terms of the controls and therefore invariant with respect to the coordinate system used to describe the motion.
|Item type:||Conference or Workshop Item (Paper)|
|Keywords:||path planning, spherical space, rotation group, Mechanical engineering and machinery, Motor vehicles. Aeronautics. Astronautics, Mechanical Engineering, Aerospace Engineering, Control and Systems Engineering|
|Subjects:||Technology > Mechanical engineering and machinery
Technology > Motor vehicles. Aeronautics. Astronautics
|Department:||Faculty of Engineering > Mechanical and Aerospace Engineering|
|Depositing user:||Ms Katrina May|
|Date Deposited:||05 Jun 2009 12:37|
|Last modified:||22 May 2015 09:19|
Actions (login required)