Optimal trajectory generation for wheeled mobile robot
نویسندگان
چکیده
The problem associated with trajectory generation for a car-like robot (CLR) moving from an initial configuration to any final configuration is studied in this paper. The aim of our research is to achieve energy-optimal solution to the problem of trajectory generation. Based on bang-bang control theory, the necessary condition for energy-optimal trajectory generation is studied. Based on steering angle velocity control model (SAVCM), the presented method can be used to deal with the trajectory generation problem of CLR whose steering angle is not instantaneously realizable effectively.
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