Wheeled Mobile Robotics

Example 3.17

Compute the optimal velocity profile that will result in the shortest traveling time for a given path $x_p(u)=cos(u)$, $y_p(u)=sin(2u)$ where u ∈ [0, 2π] and considering maximal tangential accelerations a_MAXt = 2 m/s² and radial acceleration a_MAXr = 4 m/s².

Compute the schedule u(t) and velocity profiles v(u), v(t).

Solution

To compute the optimal schedule u(t) the algorithm presented in this chapter needs to be implemented. First the TPs need to be computed with the initial conditions given in relations (3.119), (3.123); then the solutions ...