Time optimal path planning for a wheeled mobile robot

DOI10.1002/1097-4563(200011)17:11%3C585::AID-ROB1%3E3.0.CO;2-7MaRDI QIDQ2702108zbMATH OpenOpenAlexFDO

Authors Huitang Chen, Pengyung Woo, Weiguo Wu

Publication date 5 August 2001

Full work available at URL https://doi.org/10.1002/1097-4563(200011)17:11%3C585::aid-rob1%3E3.0.co;2-7

zbMATH Keywords

2-DOF wheeled mobile robotdynamic constraintskinematic constraintsmotor saturationNewton-Euler methodsnonholonomytime optimal path planningtwo-stage planning

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60)

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• Energy-time optimal control of wheeled mobile robots
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