|Time-optimal Velocity Planning Along Predefined Path for Static Formations of Mobile Robots
Toni Petrinic*, Mišel Brezak, and Ivan Petrovic
International Journal of Control, Automation, and Systems, vol. 15, no. 1, pp.293-302, 2017
Abstract : "This paper is concerned with the problem of finding a time-optimal velocity profile along the predefined
path for static formations of mobile robots in order to traverse the path in shortest time and to satisfy, for each
mobile robot in the formation, velocity, acceleration, tip over and wheel slip prevention constraints. Time-optimal
velocity planning is achieved using so called bang-bang control where minimum and maximum accelerations of
the formation are alternating. The developed trajectory planning algorithm is demonstrated on the formation of
differential drive mobile robots."
"Differential drive mobile robot, mobile robot formations, tip over and wheel slip prevention, trajectory planning, velocity and acceleration constraints."
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