Time-optimal cornering trajectory planning for car-like mobile robots containing actuator dynamics

We establish a highly feasible algorithm for time-optimal cornering trajectory planning (TP) for car-like mobile robots (CLMRs) based on a dynamic model that contains actuator dynamics. First, we formulate an accurate dynamic model of a robot that contains DC motor actuators; this includes steering braking (caused by the lateral force of the front steering wheel) and two types of friction (viscous and Coulomb) under a nonslip condition. Our TP...