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Wheeled Mobile Robotics by Igor Skrjanc, Saso Blazic, Andrej Zdesar, Gregor Klancar

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Example 3.17

Compute the optimal velocity profile that will result in the shortest traveling time for a given path xp(u)=cos(u)si335_e, yp(u)=sin(2u)si336_e where u ∈ [0, 2π] and considering maximal tangential accelerations aMAXt = 2 m/s2 and radial acceleration aMAXr = 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 ...

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