Extremal Trajectories for Bounded Velocity Differential Drive Robots
نویسندگان
چکیده
This paper applies Pontryagin’s Maximum Principle to the time optimal control of differential drive mobile robots with velocity bounds. The Maximum Principle gives necessary conditions for time optimality. Extremal trajectories are those which satisfy these conditions, and are thus a superset of the time optimal trajectories. This paper derives a compact geometrical structure for extremal trajectories and shows that extremal trajectories are always composed of rotations about the robot center and straight line motions. Further necessary conditions are obtained.
منابع مشابه
Extremal Trajectories for Bounded Velocity Mobile Robots
Previous work [3, 6, 9, 8, 7, 1] has presented the time optimal trajectories for three classes of non-holonomic mobile robots: steered cars that can only go forwards, steered cars that go forwards or backwards, and differential drives. Each of the vehicles is modelled as a rigid body in the plane with velocity and angular velocity controls. The systems are differentiated only by the bounds on t...
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