Minimum-energy multi-section transport trajectory planning for holonomic logistics robots

Abstract

The minimum-energy multi-section trajectory was generated for holonomic robots. First, minimum-energy trajectory planning on a section for various constraints was performed using the optimal control theory, dynamic models, and a cost function, which represent the energy drawn from the battery. Then, two novel strategies were established to formulate a minimum-energy, multi-section trajectory generation algorithm. Through these strategies on loop arrangement considering the computational load of each trajectory generation algorithm on a section, unknown variables for a multi-section could be found within a practical execution time. The generated trajectory for logistics robots saved 7.18% energy compared with the conventional trajectory using the trapezoidal velocity profile. Further, the actual performance was shown using the resolved-acceleration controller, which was implemented in the preliminary research.