Time optimal path planning considering acceleration limits

  title={Time optimal path planning considering acceleration limits},
  author={Marko Lepetic and Gregor Klancar and Igor Skrjanc and Drago Matko and Bostjan Potocnik},
  journal={Robotics and Autonomous Systems},
A robot path planning technique is proposed in the paper. It was developed for robots with differential drive, but with minor modifications it could be used for all types of nonholonomic robots. The path was planned in the way to minimise the time of reaching the end point in desired direction and with desired velocity, starting from the initial state described by the start point, initial direction and initial velocity. The limitation was the grip of the tires that results in the acceleration… CONTINUE READING
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