5 search results - page 1 / 1 » Extremal Trajectories for Bounded Velocity Differential Driv... |
ICRA
2000
IEEE
13 years 9 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
13 years 9 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...
ICRA
2000
IEEE
13 years 9 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 4 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...
IJRR
2011
12 years 11 months ago
2011
— In this paper we develop an RRT-based motion planner that achieved bounding in simulation with the LittleDog robot over extremely rough terrain. LittleDog is a quadruped robot ...