Time optimal trajectories for bounded velocity differential drive vehicles

International Journal of Robotics Research

Volumn 21, Issue 3, 2002, Pages 199-217

  Balkcom, Devin J ^a   Mason, Matthew T ^a  

^a CARNEGIE MELLON UNIVERSITY   (United States)

Author keywords

Differential drive robots; Dubins; Optimal control; Pontryagin's maximum principle; Reeds and Shepp; Steered cars; Time optimal trajectories

Indexed keywords

ALGORITHMS; GEOMETRY; OPTIMAL CONTROL SYSTEMS; SET THEORY; TRAJECTORIES; VEHICLES;

TIME OPTIMAL TRAJECTORIES;

ROBOTICS;

EID: 0036523427     PISSN: 02783649     EISSN: None     Source Type: Journal    
DOI: 10.1177/027836402320556403     Document Type: Article

References (9)

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3. Pontryagin, L.S., Boltyanskii, V.G., Gamkrelidze, R.V., and Mishchenko, E.F. 1962. The Mathematical Theory of Optimal Processes. John Wiley.
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9. Sussmann, H., and Tang, G. 1991. Shortest paths for the reeds-shepp car: a worked out example of the use of geometric techniques in nonlinear optimal control. SYCON 91-10, Department of Mathematics, Rutgers University, New Brunswick, NJ 08903.