Time Optimal Trajectories for Bounded Velocity Differential Drive Robots

Devin Balkcom and Matthew T. Mason
IEEE International Conference on Robotics and Automation (ICRA '00), May, 2000, pp. 2499 - 2504.


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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.

Notes
Associated Center(s) / Consortia: Center for the Foundations of Robotics
Associated Lab(s) / Group(s): Manipulation Lab

Text Reference
Devin Balkcom and Matthew T. Mason, "Time Optimal Trajectories for Bounded Velocity Differential Drive Robots," IEEE International Conference on Robotics and Automation (ICRA '00), May, 2000, pp. 2499 - 2504.

BibTeX Reference
@inproceedings{Balkcom_2000_3169,
   author = "Devin Balkcom and Matthew T. Mason",
   title = "Time Optimal Trajectories for Bounded Velocity Differential Drive Robots",
   booktitle = "IEEE International Conference on Robotics and Automation (ICRA '00)",
   pages = "2499 - 2504",
   month = "May",
   year = "2000",
   volume = "3",
}