6 search results - page 1 / 2 » Time Optimal Trajectories for Bounded Velocity Differential ... |
ICRA
2000
IEEE
14 years 3 months ago
2000
IEEE
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...
IJRR
2002
13 years 10 months ago
2002
This paper presents the time optimal trajectories for differential drive vehicles in the unobstructed plane. The wheel angular velocities are bounded, but may be discontinuous. Th...
ICRA
2000
IEEE
14 years 3 months ago
2000
IEEE
This paper applies Pontryagin’s Maximum Principle to the time optimal control of differential drive mobile robots with velocity bounds. The Maximum Principle gives necessary con...
ICRA
2002
IEEE
14 years 3 months ago
2002
IEEE
Previous work [3, 6, 9, 8, 7, 1] has presented the time optimal trajectories for three classes of non-holonomic mobile robots: steered cars that can only go forwards, steered cars...
IROS
2006
IEEE
14 years 4 months ago
2006
IEEE
— This paper addresses a method to optimize the robot motion planning in dynamic environments, avoiding the moving and static obstacles while the robot drives towards the goal. T...