| Article ID | Journal | Published Year | Pages | File Type |
|---|---|---|---|---|
| 713342 | IFAC Proceedings Volumes | 2014 | 6 Pages |
Abstract
The paper proposes a method for determining energy optimal trajectory from source position to goal position for differential drive robots. Energy consumption depends on the velocity profile of the generated trajectory. The proposed method makes use of Dubins path of optimum turning radius to plan the trajectory between two waypoints. The results are compared with other methods in terms of energy consumption for the generated trajectories using simulation. The proposed method computes energy optimal trajectory in linear time complexity with respect to the number of waypoints.
Related Topics
Physical Sciences and Engineering
Engineering
Computational Mechanics
