TY - JOUR N2 - The motion planning problem consists in finding a control function which drives the system to a desired point. The motion planning algorithm derived with an endogenous configuration space approach assumes that the motion takes place in an arbitrary chosen time horizon. This work introduces a modification to the motion planning algorithm which allows to reach the destination point in time, which is shorter than the assumed time horizon. The algorithm derivation relies on the endogenous configuration space approach and the continuation (homotopy) method. To achieve the earlier destination reaching a new formulation of the task map and the task Jacobian are introduced. The efficiency of the new algorithm is depicted with simulation results. L1 - http://www.czasopisma.pan.pl/Content/107683/PDF/6_Ratajczak_ACS-2018(2).pdf L2 - http://www.czasopisma.pan.pl/Content/107683 PY - 2018 IS - No 2 DO - 10.24425/123460 KW - motion planning KW - nonholonomic KW - endogenous configuration space KW - homotopy KW - continuation KW - earlier destination reaching A1 - Ratajczak, Adam PB - Committee of Automatic Control and Robotics PAS VL - vol. 28 DA - 2018.06.30 T1 - Motion planning for nonholonomic systems with earlier destination reaching UR - http://www.czasopisma.pan.pl/dlibra/publication/edition/107683 T2 - Archives of Control Sciences ER -