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...
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...
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...
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...