Finding the Quickest Straight-Line Trajectory for a Three-Wheeled Omnidirectional Robot under Input Voltage Constraints

Figure 4

Variation of the optimal input vector with heading, realized geometrically in terms of the cube: (a) five cutting planes corresponding to variants constraints, and the trace of a 2-extreme input vector (white arrow), when the heading angle is between −60° and 0°. (b) plane corresponding to ; in the region containing ; and in the region containing .

(a)

(b)