Online Minimum-Energy Trajectory Planning and Control on a Straight-Line Path for Three-Wheeled Omnidirectional Mobile Robots

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To maximize total operating time, an online minimum-energy translational and rotational velocity trajectory planning and control system is presented on a straight-line path for three-wheeled omnidirectional mobile robots (TOMRs). We suggest an efficient online trajectory planning algorithm, which minimizes a practical cost function as the energy that is drawn from batteries to motors, which is based on an accurate TOMR dynamic model that includes both the Coriolis force and the actuator motor dynamics. Using Pontryagin's minimum principle, we find the minimum-energy rotational velocity trajectory in analytic form. Then, the minimum-energy translational velocity trajectory is found using a novel algorithm that has a time complexity of O(n), which is based on a linearity condition on the state transition of TOMRs. Moreover, a trajectory control system is implemented using the resolved-acceleration control to validate the actual performance. Simulation and experiment results show that these minimum-energy trajectories can save energy up to 4.76% compared with the energy-efficient trapezoidal velocity profile and up to 5.29% compared with the loss-minimization control.
Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Issue Date
2014-09
Language
English
Article Type
Article
Keywords

SERVICE ROBOTS; VELOCITY; CONSTRAINTS; GENERATION; ALGORITHM; PLATFORM

Citation

IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, v.61, no.9, pp.4771 - 4779

ISSN
0278-0046
DOI
10.1109/TIE.2013.2293706
URI
http://hdl.handle.net/10203/188929
Appears in Collection
EE-Journal Papers(저널논문)
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