SYSTEMS AND METHODS FOR IMPROVED CONTROL OF NONHOLONOMIC ROBOTIC SYSTEMS

摘要

Systems and methods for improved control of nonholonomic robotic systems are disclosed herein. According to at least one non-limiting exemplary embodiment, a holonomic reference point on or nearby a nonholonomic robot may be determined and utilized to navigate the robot along a target trajectory. Due to the holonomicity of the reference point, control logic of the robotic system may be greatly simplified, thereby enhancing accuracy of navigation and navigation capabilities of nonholonomic robotic systems.