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Carnegie Mellon Robotics Institute

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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), April, 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 = "April",
   year = "2000",
   volume = "3",
}

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