Near-time-optimal trajectory planning for wheeled mobile robots with translational and rotational sections

IEEE Transactions on Robotics and Automation

Volumn 17, Issue 1, 2001, Pages 85-90

  Choi, J S ^a   Kim, B K ^a  

^a Korea Advanced Institute of Science and Technology (KAIST)   (South Korea)

Author keywords

Current and voltage constraints; Mobile robot; Time optimal trajectory

Indexed keywords

ALGORITHMS; COLLISION AVOIDANCE; COMPUTER SIMULATION; CURRENT VOLTAGE CHARACTERISTICS; ELECTRIC BATTERIES; ELECTRIC CURRENTS; ELECTRIC MOTORS; MOBILE ROBOTS; VELOCITY;

ARMATURE CURRENT CONSTRAINT; BATTERY VOLTAGE; MOTOR ARMATURE; NEAR-TIME-OPTIMAL TRAJECTORY PLANNING; TRAJECTORY GENERATION ALGORITHM; WHEELED MOBILE ROBOTS;

MOTION PLANNING;

EID: 0035245269     PISSN: 1042296X     EISSN: None     Source Type: Journal    
DOI: 10.1109/70.917086     Document Type: Article

References (13)

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10. Time-optimal trajectories for mobile robots with two independently driven wheels
11. Minimum-time motion of a mobile robot with two independent acceleration-driven wheels
12. Quasi-time-optimal motion planning of mobile platforms in the presence of obstacles
13. Internal dynamics of a wheeled mobile robot