ABSTRACT
We consider a differential drive mobile robot: Two unsteered coaxial wheels are independently actuated. Each wheel has bounded velocity, but no bound on torque or acceleration. Pontryagin’s Maximum Prin ciple gives an elegant description of the extremal tra jectories, which are a superset of the time optimal tra jectories. Further analysis gives an enumeration of the time optimal trajectories, and methods for identifying the time optimal trajectories between any two configu rations. This paper recapitulates and refines the results of [1 ] and [2] and presents a simple graphical technique for constructing time optimal trajectories.
