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Re: paper: Driving a Robot — Fastest Path from A to B
Interesting read. A couple things I would point out: 1.) There is another scenario to consider: Drive, turn, drive (Back up to a point coincident with a point on your final pose vector, turn to face the vector, then drive forward to the point), and 2.) This doesn't take into account real accelerations. There is an underlying assumption that speed is instant, meaning it takes 0 time to get to speed/reverse directions. With a spline path, there are no reversals in direction, so it might be something worth looking at.
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