NDLI: Minimum-time trajectories for kinematic mobile robots and other planar rigid bodies with finite control sets

Content Provider	IEEE Xplore Digital Library
Author	Furtuna, Andrei A. Lu, Wenyu Wang, Weifu Balkcom, Devin J.
Copyright Year	2011
Description	Author affiliation: Dartmouth Coll., USA (Furtuna, Andrei A.; Lu, Wenyu; Wang, Weifu; Balkcom, Devin J.)
Abstract	This paper presents first attempts at a method for searching for time-optimal trajectories for a general model of mobile robots that includes Dubins and Reeds-Shepp cars, differential-drive robots, and omnidirectional robots as special cases. The paper takes as a starting point recent results by the authors that describe necessary conditions on the trajectories, based on Pontryagin's Maximum Principle. These necessary conditions reduce the problem of finding an optimal trajectory between start and goal to a few one-dimensional search problems. This search is not formally guaranteed to find a near-optimal trajectory if the sampling of the search space is not fine enough, but comparison to existing analytical results for specific systems, and a complete numerical search over trajectories with only a few control switches, demonstrates effectiveness of the method.
Starting Page	4321
Ending Page	4328
File Size	318279
Page Count	8
File Format	PDF
ISBN	9781612844541
ISSN	21530858
e-ISBN	9781612844565
DOI	10.1109/IROS.2011.6094923
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-09-25
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Trajectory Kinematics Mobile robots Aerospace electronics Switches
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications Computer Vision and Pattern Recognition Software

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