TOPP-DWR: Time-Optimal Path Parameterization of Differential-Driven Wheeled Robots Considering Piecewise-Constant Angular Velocity Constraints

Yong Li, Yujun Huang, Yi Chen +1

Differential-driven wheeled robots (DWR) represent the quintessential type of mobile robots and find extensive appli- cations across the robotic field. Most high-performance contro…