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Time Optimal Trajectories for Bounded Velocity Differential Drive Robots

Devin Balkcom and Matthew T. Mason
Conference Paper, Carnegie Mellon University, IEEE International Conference on Robotics and Automation (ICRA '00), Vol. 3, pp. 2499 - 2504, April, 2000

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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.

BibTeX Reference
@conference{Balkcom-2000-7997,
title = {Time Optimal Trajectories for Bounded Velocity Differential Drive Robots},
author = {Devin Balkcom and Matthew T. Mason},
booktitle = {IEEE International Conference on Robotics and Automation (ICRA '00)},
school = {Robotics Institute , Carnegie Mellon University},
month = {April},
year = {2000},
volume = {3},
pages = {2499 - 2504},
address = {Pittsburgh, PA},
}
2017-09-13T10:46:21+00:00