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Minimum Time Trajectories for a Car-Like Mobile Robot Moving with Rigid Wheels Under Non-Sliding Constraints

arXiv · AI, language, vision and robotics · article · Sep 21, 2026 · UTC

This paper studies the minimum time trajectoriesvof a car-like mobile robot navigating in an obstacle free environment. The robot, with forward and backward speeds, is controlled by bounded front-wheels acceleration and limited front-wheels steering rate. The paper extends previous results which solved this problem for the kinematic car-like robot. However, the kinematic model assumes pure rolling at the wheels ground contacts. This assumption requires non-sliding constraints for the front and rear wheels that can only be handled by the robot dynamics. This paper formulates the non-sliding con

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