An Iterative Approach to Motion Planning for Underactuated Surface Vessels

J.-Y. Lee, T.-H. Kim, and I.-J. Ha (Korea)


underactuated surface vessel, motion planning, continuation method


This paper describes a novel approach to motion planning for underactuated surface vessels, which belong to a class of nonholonomic nonlinear systems with drift vector field. To find an admissible trajectory which connects the fixed initial and final configurations, we have employed the well-known input/output (I/O) linearization and continuation method with slight modification. Thereby, all linearly perturbed systems along the trajectories updated iteratively can be made controllable. The convergence of the proposed iterative update algorithm for motion planning is rigorously proved and its practicality is demonstrated through a numerical example.

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