Mathematical Problems in Engineering / 2015 / Article / Tab 2

Research Article

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 .

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