Near-time-optimal trajectory planning for wheeled mobile robots with translational and rotational sections.
We derive a near-time-optimal trajectory for wheeled mobile robots (WMRs) satisfying the following: 1) initial and final postures/velocities; and 2) battery voltage and armature current constraints, under assumptions of simplified dynamics and constant translational/rotational velocity sections. We...
| Publicado no: | IEEE Transactions on robotics and automation 17, 1 (2001). |
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| Autor principal: | |
| Formato: | Artigo |
| Idioma: | English |
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