Finding the Quickest Straight-Line Trajectory for a Three-Wheeled Omnidirectional Robot under Input Voltage Constraints

Finding the Quickest Straight-Line Trajectory for a Three-Wheeled Omnidirectional Robot under Input Voltage Constraints

We provide an analytical solution to the problem of generating the quickest straight-line trajectory for a three-wheeled omnidirectional mobile robot, under the practical constraint of limited voltage. Applying the maximum principle to the geometric properties of the input constraints, we find that...

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Bibliographic Details
Main Authors:	Ki Bum Kim, Yong-Hyuk Kim, Yourim Yoon
Format:	Article
Language:	English
Published:	Hindawi Limited 2015-01-01
Series:	Mathematical Problems in Engineering
Online Access:	http://dx.doi.org/10.1155/2015/105357

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