Title :
Time optimal trajectories for bounded velocity differential drive robots
Author :
Balkcom, Devin J. ; Mason, Matthew T.
Author_Institution :
Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
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
Keywords :
controllability; drives; mobile robots; robot dynamics; time optimal control; bounded velocity differential drive; bounded velocity model; controllability; differential drive robot; mobile robot; time-optimal trajectory; Acceleration; Angular velocity; Coaxial components; Computer science; Drives; Mobile robots; Parallel robots; Velocity control; Wheelchairs; Wheels;
Conference_Titel :
Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on
Conference_Location :
San Francisco, CA
Print_ISBN :
0-7803-5886-4
DOI :
10.1109/ROBOT.2000.846404
