Time-optimal straight-line trajectory planning on hill for two-wheeled mobile robots

The time-optimal straight-line trajectory planning problem on hill (TO-STH) is solved for two-wheeled mobile robots (TMRs). Our studies are based on the dynamics of mobile robots with actuator motors on hill. After formulating the dynamics, the TO-STH solution should be obtained satisfying initial/final postures/velocities, straight-line road on hill, and bounded motor control inputs. Then we developed TO-STH algorithm by phase-plane techniques with optimality condition. Finally, verification of the proposed algorithm is shown via extensive simulations.