Optimal Motion Planning for Differential Drive Mobile Robots based on Multiple-Interval Chebyshev Pseudospectral Methods
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DOI: 10.1017/s0263574720000430
Abstract: SUMMARY This paper presents a Chebyshev Pseudospectral (PS) method for solving the motion planning problem of nonholonomic mobile robots with kinematic and dynamic constraints. The state and control variables are expanded in the Chebyshev polynomial… read more here.
Keywords: multiple interval; chebyshev pseudospectral; motion planning; interval chebyshev ... See more keywords