Evaluation of Parameterizations in Local Lie-Algebraic Motion Planning

摘要

In this paper some parameterizations of controls are examined in a Lie algebraic method of motion planning for driftless non-holonomic systems. The purpose of the examination is to establish how numerous the parameterization should be and which items of a harmonic basis are to be included into the parameterization. An algorithm is presented to evaluate parameterizations without (or reduced) impact of a local, desired direction of motion.