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arXiv · 2609.24832

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

Joseph Ben-Asher·Elon Rimon·Leeor Ravina
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Abstract

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 constraints based on the robot dynamics then augments the kinematic model time-optimal path primitives with three new path primitives associated with the non-sliding constraints. The three non-sliding path primitives together with the kinematic model twelve path primitives form the car-like robot time optimal trajectories. Approximate analytic solutions for the non-sliding path primitives are also provided. Examples study the time-optimal path primitives along representative maneuvers, illustrating how the non-sliding constraints influence the time optimal trajectories of the car-like robot.

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Joseph Ben-Asher, Elon Rimon, Leeor Ravina. 2026-09-21. Minimum Time Trajectories for a Car-Like Mobile Robot Moving with Rigid Wheels Under Non-Sliding Constraints. https://arxiv.org/abs/2609.24832

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