DocumentCode
2058245
Title
Time optimal trajectories for bounded velocity differential drive robots
Author
Balkcom, Devin J. ; Mason, Matthew T.
Author_Institution
Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
Volume
3
fYear
2000
fDate
2000
Firstpage
2499
Abstract
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 develops the bounded velocity model for differential drive mobile robots, and derives the time-optimal trajectories
Keywords
controllability; drives; mobile robots; robot dynamics; time optimal control; bounded velocity differential drive; bounded velocity model; controllability; differential drive robot; mobile robot; time-optimal trajectory; Acceleration; Angular velocity; Coaxial components; Computer science; Drives; Mobile robots; Parallel robots; Velocity control; Wheelchairs; Wheels;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on
Conference_Location
San Francisco, CA
ISSN
1050-4729
Print_ISBN
0-7803-5886-4
Type
conf
DOI
10.1109/ROBOT.2000.846404
Filename
846404
Link To Document