Abstract
A simpli ed model of the motion of a US Navy crane in the plane is presented. We prove that the system is di erentially at and we solve the (open loop) motion planning problem to carry the load from one point to another with obstacle avoidance. Simulations are presented.
Original language | English |
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Title of host publication | ECC 1997 - European Control Conference |
Publisher | Institute of Electrical and Electronics Engineers Inc. |
Pages | 2829-2833 |
Number of pages | 5 |
ISBN (Electronic) | 9783952426906 |
Publication status | Published - 8 Apr 1997 |
Event | 4th European Control Conference, ECC 1997 - Brussels, Belgium Duration: 1 Jul 1997 → 4 Jul 1997 |
Conference
Conference | 4th European Control Conference, ECC 1997 |
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Country/Territory | Belgium |
City | Brussels |
Period | 1/07/97 → 4/07/97 |
Keywords
- Crane control
- Differential atness
- Motion planning
- Nonlinear control