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arXiv 1104.2397math.DGmath.CA
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SO中的近似测地黎曼三次体(3)

Nearly Geodesic Riemannian Cubics in SO(3)

Lyle Noakes

摘要:

{ \em黎曼三次曲面}是流形$M$中的曲线,满足适合插值问题的变分条件。当$M$是旋转群SO(3)时,Riemannian三次曲线是{ \em Riemannian三次样条}的轨迹求和,用于刚体的运动规划。部分可积性的结果是已知的黎曼三次,和渐近的黎曼三次在SO(3)是合理的理解。SO(3)中黎曼三次样条的数学性质和中期行为是非常丰富的,但在实际中,有计算黎曼三次样条的数值方法。缺少的是对黎曼三次体的短期行为的理解,这对应用很重要。本文用初等函数导出了近似测地黎曼三次曲面,从而填补了这一空白。这些近似的高质量取决于特定于黎曼三次体的数学结果。

英文摘要:

{\em Riemannian cubics} are curves in a manifold $M$ that satisfy a variational condition appropriate for interpolation problems. When $M$ is the rotation group SO(3), Riemannian cubics are track-summands of {\em Riemannian cubic splines}, used for motion planning of rigid bodies. Partial integrability results are known for Riemannian cubics, and the asymptotics of Riemannian cubics in SO(3) are reasonably well understood. The mathematical properties and medium-term behaviour of Riemannian cubics in SO(3) are known to be be extremely rich, but there are numerical methods for calculating Riemannian cubic splines in practice. What is missing is an understanding of the short-term behaviour of Riemannian cubics, and it is this that is important for applications. The present paper fills this gap by deriving approximations to nearly geodesic Riemannian cubics in terms of elementary functions. The high quality of these approximations depends on mathematical results that are specific to Riemannian cubics.

机构、总结、中文摘要均由AI分析而来,可能存在错误,请以论文正文为准。

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