A NEW APPROACH FOR MINIMUM TIME MOTION PLANNING PROBLEM OF WHEELED MOBILE ROBOTS

Abstract We present a new method to plan minimum time trajectories for wheeled mobile robots. The problem is known to be complex in particular when dynamics is taken into account. Our approach is based on a simultaneous search for the robot path and the time evolution on this path. The whole problem is formulated in such a way that all geometric, kinematic and dynamic constraints are handled sequentially which makes more effective the use of stochastic methods.

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