| contributor author | Ben-Asher, J. Z. | |
| contributor author | Rimon, E. D. | |
| contributor author | Wetzler, M. | |
| contributor author | Diepolder, J. | |
| date accessioned | 2022-02-06T05:36:57Z | |
| date available | 2022-02-06T05:36:57Z | |
| date copyright | 2/12/2021 12:00:00 AM | |
| date issued | 2021 | |
| identifier issn | 2690-702X | |
| identifier other | javs_1_1_011006.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl1/handle/yetl/4278400 | |
| description abstract | This paper studies the time optimal paths of a mobile robot navigating in a planar environment containing an obstacle. The paper considers a point-mass robot that moves with bounded acceleration and limited turn-rate controls in the presence of an obstacle. The optimal control problem yields 12 path primitives that form the time optimal paths of the point-mass robot. The problem is then extended to a disc-robot that moves in the presence of an obstacle with turn in-place capability. The optimality conditions yield 12 modified path primitives that form the time optimal paths of the disc-robot. All path primitives are analytically characterized and examples demonstrate how they form time optimal trajectories in the presence of several obstacle types. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | Time Optimal Trajectories for a Mobile Robot With Acceleration and Speed Limits in the Presence of an Obstacle | |
| type | Journal Paper | |
| journal volume | 1 | |
| journal issue | 1 | |
| journal title | Journal of Autonomous Vehicles and Systems | |
| identifier doi | 10.1115/1.4049834 | |
| journal fristpage | 011006-1 | |
| journal lastpage | 011006-10 | |
| page | 10 | |
| tree | Journal of Autonomous Vehicles and Systems:;2021:;volume( 001 ):;issue: 001 | |
| contenttype | Fulltext | |