Minimum-Energy Trajectory Generation for Cornering with a Fixed Heading for Three-Wheeled Omni-Directional Mobile Robots

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The minimum-energy trajectory generation problem of cornering with a fixed heading is solved for three-wheeled omni-directional mobile robots (TOMRs). To maximize the total operation time of a mobile robot with carried batteries having finite energy, we have chosen a practical cost function to be the total energy drawn from the batteries. Then, we formulate the minimum-energy trajectory generation problem of executing a cornering motion with a fixed heading for TOMRs with given dynamics including actuator motors. The optimal control theory using a Hamiltonian function and a numerical method are used to obtain the minimum-energy trajectory, which gives the velocity profile in analytic form. Performance analyses are conducted with various simulations and the consumed energy using obtained minimum-energy trajectory is compared with a typical conventional trajectory with a trapezoidal velocity profile, which reveals that an energy savings of up to 18.7 % is achieved. To validate the actual performance of our trajectory, we implemented and tested an accurate trajectory following system which utilizes a resolved acceleration controller.
Publisher
SPRINGER
Issue Date
2014-08
Language
English
Article Type
Article
Keywords

SERVICE ROBOTS; DC DRIVES; MINIMIZATION; PLATFORM; VELOCITY; PATH

Citation

JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS, v.75, no.2, pp.205 - 221

ISSN
0921-0296
DOI
10.1007/s10846-013-9855-1
URI
http://hdl.handle.net/10203/189968
Appears in Collection
EE-Journal Papers(저널논문)
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