OTHER
Time optimal trajectories for bounded velocity differential drive robots
Devin Balkcom, Matthew T. Mason
- Year
- 2002
- Citations
- 34
Abstract
A differential drive robot is perhaps the simplest type of mobile robot, and the bounded velocity model is perhaps the simplest useful model of the admissible controls. This paper develops the bounded velocity model for differential drive mobile robots, and derives the time-optimal trajectories.
Keywords
Bounded functionRobotMobile robotDifferential (mechanical device)Control theory (sociology)Computer scienceTrajectoryMathematicsMathematical analysisArtificial intelligence
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