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...
| Pubblicato in: | IEEE Transactions on robotics and automation 17, 1 (2001). |
|---|---|
| Autore principale: | |
| Natura: | Articolo |
| Lingua: | English |
| Soggetti: |