Time Optimal Trajectories for Bounded Velocity Differential Drive Robots - Robotics Institute Carnegie Mellon University

Time Optimal Trajectories for Bounded Velocity Differential Drive Robots

Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, Vol. 3, pp. 2499 - 2504, April, 2000

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.

BibTeX

@conference{Balkcom-2000-7997,
author = {Devin Balkcom and Matthew T. Mason},
title = {Time Optimal Trajectories for Bounded Velocity Differential Drive Robots},
booktitle = {Proceedings of (ICRA) International Conference on Robotics and Automation},
year = {2000},
month = {April},
volume = {3},
pages = {2499 - 2504},
}