# 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} }

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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