Time-Optimal Trajectory Planning along Parametric Polynomial Lane-Change Curves with Bounded Velocity and Acceleration: Simulations for a Unicycle Based on Numerical Integration

<div>(a) The structure of a unicycle mobile robot and (b) its kinematics of rolling without slipping (zero lateral velocity).</div>

Modelling and Simulation in Engineering

fig1

Figure 1

Figure 1: Time-Optimal Trajectory Planning along Parametric Polynomial Lane-Change Curves with Bounded Velocity and Acceleration: Simulations for a Unicycle Based on Numerical Integration 

Figure 1 | Time-Optimal Trajectory Planning along Parametric Polynomial Lane-Change Curves with Bounded Velocity and Acceleration: Simulations for a Unicycle Based on Numerical Integration 