摘要：AbstractThe aim of this work is motion planning for a class of underactuated mechanical systems. To illustrate the theory, we introduce and investigate, from a geometric and numerical point of view, the solution of kinodynamic planning for the cart–pole. More precisely, given an initial condition for the configuration of the cart–pole, we want to plan an optimal trajectory making the inverted pendulum on the cart to avoid an obstacle during its motion, and to attain a prescribed final configuration.
关键词：KeywordsOptimal trajectorytrajectory planninggeometric control theoryautonomous mobile robotsrobotics
