Minimum-time trajectory for three-wheeled omnidirectional mobile robots following a bounded-curvature path with a referenced heading profile

IEEE Transactions on Robotics

Volumn 27, Issue 4, 2011, Pages 800-808

  Kim, Ki Bum ^a   Kim, Byung Kook ^a  

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

Author keywords

Bounded curvature path; dynamics; minimum time trajectory; three wheeled omnidirectional robot

Indexed keywords

BATTERY VOLTAGES; BOUNDED CONTROLS; BOUNDED-CURVATURE PATH; CLOTHOIDS; INPUT VOLTAGES; MINIMUM-TIME TRAJECTORY; MOTION ANALYSIS; OMNIDIRECTIONAL MOBILE ROBOT; OMNIDIRECTIONAL ROBOTS; OPTIMAL CONTROLS; OPTIMALITY CONDITIONS; PATH LENGTH; PATH-BASED; TANGENT SPACE; TRANSLATIONAL MOTIONS;

DC MOTORS; MOBILE ROBOTS; TRAJECTORIES;

ROBOT PROGRAMMING;

EID: 80051684985     PISSN: 15523098     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRO.2011.2138490     Document Type: Article

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