A motion planning algorithm for the rolling-body problem

—In this paper, we consider the control system Σ defined by the rolling of a strictly convex surface S of IR3 on a plane without slipping or spinning. The purpose of this paper is to present the numerical implementation of a constructive planning algorithm for Σ, which is based on a continuation method. The performances of that algorithm, both in robustness and convergence speed, are illustrated through several examples.

• Type: Conference
• Year: 2009
• Where: CDC
• Authors: François Alouges, Yacine Chitour, Ruixing Long
• Keywords: CDC 2009, Constructive Planning Algorithm, Control Systems, Convex Surface, Numerical Implementation