Time-optimal velocity tracking control for differential drive robots

@article{Poonawala2017TimeoptimalVT,
  title={Time-optimal velocity tracking control for differential drive robots},
  author={Hasan Poonawala and Mark W. Spong},
  journal={Autom.},
  year={2017},
  volume={85},
  pages={153-157}
}
  • Hasan Poonawala, Mark W. Spong
  • Published in Autom. 2017
  • Computer Science, Mathematics
  • Nonholonomic wheeled mobile robots are often required to implement algorithms designed for holonomic kinematic systems. This creates a velocity tracking problem for the actual wheeled mobile robot. In this paper, we investigate the issue of tracking the desired velocity in the least amount of time, for a differential drive nonholonomic wheeled mobile robot. If the desired velocity is a constant, the Pontryagin Maximum Principle can be used to design a control. A control is designed for the… CONTINUE READING

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