Finding the Quickest Straight-Line Trajectory for a Three-Wheeled Omnidirectional Robot under Input Voltage Constraints

<div><svg height="6.53193pt" id="M76" style="vertical-align:-0.24019pt" version="1.1" viewbox="-0.0498162 -6.29174 7.64707 6.53193" width="7.64707pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.0135,0,0,-0.0135,0,0)"><path d="M542 56L520 58C483 62 478 72 478 124V449C455 445 422 441 387 438C351 435 316 432 287 431V402L318 395C345 389 350 383 350 336V93C328 71 306 65 279 65C245 65 211 88 211 153V298C211 356 211 407 214 449C187 445 151 441 118 438C84 435 53 432 28 431V402L51 395C77 388 83 383 83 337V130C83 42 131 -12 214 -12C245 -12 272 -1 300 18C322 31 333 41 350 55V-5L359 -12C389 -5 420 2 452 8C485 15 513 20 542 24V56Z" id="g13-115"></path><glyph.data ascent="1024" descent="-360" horiz-adv-x="555" vert-adv-y="555"></glyph.data></g></svg> cube with six 2-extreme MTIPs (black dots) corresponding to MTAs.</div>

Mathematical Problems in Engineering

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Figure 3

Figure 3: Finding the Quickest Straight-Line Trajectory for a Three-Wheeled Omnidirectional Robot under Input Voltage Constraints 