Near-Time-Optimal Trajectory Planning for Mobile Robots With Two Independently Driven Wheels Considering Dynamical Constraints and Obstacles.
نویسندگان
چکیده
منابع مشابه
Time-Optimal Trajectories for Mobile Robots With Two Independently Driven Wheels
This paper addresses the problem of time-optimal motions for a mobile platform in a planar environment. The platform has two non-steerable independently driven wheels. The overall mission of the robot is expressed in terms of a sequence of via points at which the platform must be at rest in a given configuration (position and orientation). The objective is to plan time-optimal trajectories betw...
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ژورنال
عنوان ژورنال: Journal of the Robotics Society of Japan
سال: 1998
ISSN: 0289-1824,1884-7145
DOI: 10.7210/jrsj.16.1123