Time Optimal Trajectories for Bounded Velocity Differential Drive Robots

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 diff drive mobile robots, and derives the time-optimal trajectories.

• Type: Conference
• Year: 2000
• Where: ICRA
• Authors: Devin J. Balkcom, Matthew T. Mason
• Keywords: ICRA 2000, Mobile Robots, Robotics, Simplest Useful Model, Velocity Model