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First International Conference on Innovative Computing, Information and Control - Volume II (ICICIC'06)
Optimal Control of Nonholonomic Motion Planning for a Free-Falling Cat
Beijing, China
August 30-September 01
ISBN: 0-7695-2616-0
ASCII Text
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Xin-Sheng Ge, Qi-Zhi Zhang, "Optimal Control of Nonholonomic Motion Planning for a Free-Falling Cat," Innovative Computing ,Information and Control, International Conference on, vol. 2, pp. 599-602, First International Conference on Innovative Computing, Information and Control - Volume II (ICICIC'06), 2006.
 
 
BibTex
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@article{ 10.1109/ICICIC.2006.324,
author = {Xin-Sheng Ge and Qi-Zhi Zhang},
title = {Optimal Control of Nonholonomic Motion Planning for a Free-Falling Cat},
journal ={Innovative Computing ,Information and Control, International Conference on},
volume = {2},
year = {2006},
isbn = {0-7695-2616-0},
pages = {599-602},
doi = {http://doi.ieeecomputersociety.org/10.1109/ICICIC.2006.324},
publisher = {IEEE Computer Society},
address = {Los Alamitos, CA, USA},
}
 
 
RefWorks Procite/RefMan/Endnote
x 
 
TY - CONF
JO - Innovative Computing ,Information and Control, International Conference on
TI - Optimal Control of Nonholonomic Motion Planning for a Free-Falling Cat
SN - 0-7695-2616-0
SP599
EP602
A1 - Xin-Sheng Ge,
A1 - Qi-Zhi Zhang,
PY - 2006
KW - null
VL - 2
JA - Innovative Computing ,Information and Control, International Conference on
ER -
 
Xin-Sheng Ge, Beijing Institute of Machinery, China
Qi-Zhi Zhang, Beijing Institute of Machinery, China
The nonholonomic motion planning of a free-falling cat is investigated. Nonholonomicity arises in a freefalling cat subject to nonintegrable angle velocity constraints or nonintegrable conservation laws. When the total angular momentum is zero, the motion equation of a free-falling cat is established based on the model of two symmetric rigid bodies and conservation of angular momentum. The control of system can be converted to the problem of nonholonomic motion planning for a free-falling cat. Based on Ritz approximation theory, the Gauss- Newton method for motion planning by a falling cat is proposed. The effectiveness of the numerical algorithm is demonstrated through simulation on model of a falling cat.
Citation:
Xin-Sheng Ge, Qi-Zhi Zhang, "Optimal Control of Nonholonomic Motion Planning for a Free-Falling Cat," icicic, vol. 2, pp.599-602, First International Conference on Innovative Computing, Information and Control - Volume II (ICICIC'06), 2006
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