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

Table 2

Optimal control vectors for Problem 2.

		Nonextreme input of
Near SMTA
	Near UMTA
		UMTA		None ( are all extremes)

Notation: , and are, respectively, the heading, its first derivative, and the linear velocity at a time .