Abstract
Study of nonholonomic motion planning needs further research into the global properties of linear constraints in state space. The global properties of constraints, which contain the holonomicity and the nonholonomicity by regions, the existence of the isolated integral manifolds and the singular points and so on, have essential influence on motion planning. By analysis of the point sets in total space, the complete sketch of the global properties of linear constraints in state space is obtained, which can directly be applied to motion planning.
| Original language | English |
|---|---|
| Pages (from-to) | 745-754 |
| Number of pages | 10 |
| Journal | Science in China, Series A: Mathematics, Physics, Astronomy |
| Volume | 40 |
| Issue number | 7 |
| DOIs | |
| Publication status | Published - 1997 |
| Externally published | Yes |
Keywords
- Frobenius theorem
- Holonomicity and nonholonomicity by regions
- Isolated integral manifold
- Pfaff constraints
- Set of singular points