G. CANNATA

Calculating smooth tra jectories of bounded curvature has received a very wide attention in the robotic literature of the last 40 years. Most results focus on the study of wheeled non-holonomic vehicles and are concerned with 2D path generation algorithms. The problem of smooth and least curvature 3D path planning is addressed with a...

In this paper, the feedback control of a nonholonomic 3D vehicle is considered; namely, the problem of steering an underactuated rigid body to a target position along a desired direction is addressed. A simple time-invariant strategy is determined on the basis of standard vector kinematics and a Lyapunov-like stability analysis. The resulting...