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- W2985954737 abstract "This research considers rate limiters in a novel way to generate parameterized trajectories for differential drive mobile robots such that the wheel velocity and acceleration constraints are fulfilled. In order to obtain feasible wheel velocity reference signals for following a geometrical path, the classical second-order rate limiter is generalized to a two-dimensional second-order rate limiter. The target points are mapped onto a desired direction vector, which is then mapped to desired linear and angular velocities. The Kalai–Smorodinsky bargaining solution inspires the proposed mapping to a feasible solution that addresses the tradeoff between linear and angular motion while yielding a short running time." @default.
- W2985954737 created "2019-11-22" @default.
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- W2985954737 date "2019-09-01" @default.
- W2985954737 modified "2023-09-27" @default.
- W2985954737 title "Online Trajectory Generation for Differential Drive Mobile Robots Using Multi-Dimensional Rate Limiters" @default.
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- W2985954737 doi "https://doi.org/10.1109/elecsym.2019.8901591" @default.
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