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An upper bound of the global degree of nonholonomy is found for a car with n trailers. This bound grows exponentially as a function of n similarly to the Fibonacci numbers. The bound is hence lower than previous upper bounds. Controllability is also shown for the kinematic model considered.

Title
On the Global Degree of Nonholonomy of a Car with n Trailers
Creator
Sordalen, O.J., Author
Published
EECS Department, University of California at Berkeley, Berkeley, California, 05/27/93
Full Collection Name
Electrical Engineering & Computer Sciences Technical Reports
Other Identifiers
ERL-93-39
Type
Text
Format
technical reports
Extent
12 p.
Language
eng
Archive
The Library
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