The minimum-time trajectories for an omni-directional vehicle

DOI10.1007/978-3-540-68405-3_22MaRDI QIDQ3564323zbMATH OpenOpenAlexFDO

Authors Devin J. Balkcom, Paritosh A. Kavathekar, Matthew T. Mason

Publication date 2 June 2010

Published in Springer Tracts in Advanced Robotics (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1007/978-3-540-68405-3_22

zbMATH Keywords

mobile robot designoptimal trajectoriesPontryagin's maximum principle

Mathematics Subject Classification ID

Optimality conditions for problems involving ordinary differential equations (49K15) Applications of optimal control and differential games (49N90) Automated systems (robots, etc.) in control theory (93C85)

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(3)

• Finding the quickest straight-line trajectory for a three-wheeled omnidirectional robot under input voltage constraints
• Optimal steady motions for oriented vehicles
• Criteria of motion without slipping for an omnidirectional mobile robot

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