Time optimal path planning for a wheeled mobile robot

Journal of Robotic Systems

Volumn 17, Issue 11, 2000, Pages 585-591

  Wu, Weiguo ^a   Chen, Huitang ^a   Woo, Peng Yung ^b  

^a TONGJI UNIVERSITY   (China)

^b NORTHERN ILLINOIS UNIVERSITY   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

COMPUTER SIMULATION; CONSTRAINT THEORY; DEGREES OF FREEDOM (MECHANICS); KINEMATICS; MOTION CONTROL; MOTION PLANNING;

NEWTON-EULER METHOD; WHEELED MOBILE ROBOTS (WMR);

MOBILE ROBOTS;

EID: 0034324308     PISSN: 07412223     EISSN: None     Source Type: Journal    
DOI: 10.1002/1097-4563(200011)17:11<585::AID-ROB1>3.0.CO;2-7     Document Type: Article

References (8)

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5. G. Jacob, Motion planning by piecewise constant or polynomial inputs, IFAC Nonlinear Control Systems, pp. 239-244, 1992.
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7. L.E. Dubins, On curves of minimal length with a constraint on average curvature and with prescribed initial and terminal positions and tangents, Amer J Math 79 (1957), 497-516.
8. P. Jiang, H.T. Chen, and Y.J. Wang, Torque limited optimal planning scheme, J Tongji Univ, Shanghai, China 21, 49-55.