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  • Cited by 2
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    This article has been cited by the following publications. This list is generated based on data provided by CrossRef.

    Ostafew, Chris J. Schoellig, Angela P. Barfoot, Timothy D. and Collier, Jack 2014. 2014 Canadian Conference on Computer and Robot Vision. p. 56.

    Waheed, Imran and Fotouhi, Reza 2009. Trajectory and temporal planning of a wheeled mobile robot on an uneven surface. Robotica, Vol. 27, Issue. 04, p. 481.


Velocity, acceleration and deceleration bounds for a time-optimal planner of a wheeled mobile robot

  • Maria Prado (a1), Antonio Simón (a1) and Francisco Ezquerro (a1)
  • DOI:
  • Published online: 01 April 2002

Three single-valued upper boundary functions for velocity, acceleration and deceleration of a wheeled mobile robot (WMR) are defined as closed mathematical forms over its entire spatial path. The limits deal with mechanical, kinematic and dynamic characteristics of the robot and with task and operating matters. These boundary functions can be computed making use of any robot model, as complex as is needed, since it works offline.

All studies are particularised for the robot RAM. A kinematic and a complete dynamic model of this WMR is built, with special attention on the study of wheel-ground contact efforts. For this purpose an empirical-analytical model of rubber wheel rolling is developed.

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  • ISSN: 0263-5747
  • EISSN: 1469-8668
  • URL: /core/journals/robotica
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