An optimal velocity generation of a rear wheel drive tricycle along a specified path

The subject of this paper is motion generation of three-wheeled vehicles, taking into account dynamics and motors' current and slew rate constraints. Dynamics are described by a nonlinear nonholonomic model. Optimal velocity is determined along a specified path. The curvature of the path is known. As an application of the proposed algorithm, velocity of the tricycle can be approximated by simple functions of the curvature.

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