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...
ICRA
2000
IEEE
13 years 8 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...