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Article Dans Une Revue Systems and Control Letters Année : 2002

Path planning on compact Lie groups using a homotopy method

Yacine Chitour

Résumé

In this paper, we address the issue of solving the motion planning problems (MPP for short) for a class of left-invariant control systems Σ whose state spaces are semisimple compact Lie groups. The sub-Riemannian metrics induced by the dynamics of Σ admit nontrivial abnormal extremals. This fact a priori represents an obstruction for the procedure we use to tackle the MPP, which consists of a homotopy (or continuation) method. We are however able to provide complete answers for the MPP. © 2002 Elsevier Science B.V. All rights reserved.

Dates et versions

hal-02320847 , version 1 (19-10-2019)

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Yacine Chitour. Path planning on compact Lie groups using a homotopy method. Systems and Control Letters, 2002, 47 (5), pp.383-391. ⟨10.1016/S0167-6911(02)00235-9⟩. ⟨hal-02320847⟩

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