Geometric construction of time optimal trajectories for differential drive robots. (Q2749812)
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scientific article; zbMATH DE number 1664278
| Language | Label | Description | Also known as |
|---|---|---|---|
| English | Geometric construction of time optimal trajectories for differential drive robots. |
scientific article; zbMATH DE number 1664278 |
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3 July 2002
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mechanisms
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robots
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Geometric construction of time optimal trajectories for differential drive robots. (English)
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In the present paper a differential drive mobile robot is considered. Two unsteered coaxial wheels are independently actuated. Each of them has bounded velocity, but has no bound on torque or acceleration. On the base of Pontryagin's maximum principle an elegant description of extremal trajectories which are a superset of the time optimal trajectories is given.NEWLINENEWLINEFor the entire collection see [Zbl 0962.00009].
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