Minimum-energy Cornering Trajectory Planning with Self-rotation for Three-wheeled Omni-directional Mobile Robots

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A minimum-energy cornering trajectory planning with self-rotation algorithm is investigated for three wheeled omni-directional mobile robots (TOMRs). First, an generalized minimum-energy point-to-point trajectory planning algorithm is studied, which is obtained using Pontryagin's minimum principle, a practical cost function as. the energy drawn from the batteries to motors, and the accurate TOMR dynamic model including actuator dynamics and the Coriolis force. By analyzing the co-state equation, the minimum-energy rotational velocity trajectory is. presented in analytic form. Also a novel algorithm for the minimum-energy translational velocity trajectory is investigated. Second, the minimum-energy cornering trajectory planning algorithm with self-rotation is developed. Simulation results show that the minimum-energy cornering trajectory can save energy up to 15.20 % compared with the conventional control using trapezoidal velocity profiles, and up to 3.96 % compared with the loss-minimization control using the armature loss as the cost function. Also a resolved-acceleration controller is implemented to show an actual performance.
Publisher
INST CONTROL ROBOTICS & SYSTEMS, KOREAN INST ELECTRICAL ENGINEERS
Issue Date
2017-08
Language
English
Article Type
Article
Keywords

CONSTRAINTS; TARGET

Citation

INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS, v.15, no.4, pp.1857 - 1866

ISSN
1598-6446
DOI
10.1007/s12555-016-0111-x
URI
http://hdl.handle.net/10203/225472
Appears in Collection
EE-Journal Papers(저널논문)
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