Title :
Minimum-energy trajectory planning on a tangent for battery-powered three-wheeled omni-directional mobile robots
Author :
Kim, Hong Jun ; Kim, Byung Kook
Author_Institution :
Dept. of Electr. Eng., KAIST, Daejeon, South Korea
Abstract :
The minimum-energy trajectory planning algorithm on a tangent with translational and rotational motion is proposed for battery-powered three-wheeled omni-directional mobile robots (TOMRs). We have chosen a practical cost function as the total energy drawn from the batteries, in order to lengthen the operational time of a mobile robot with given batteries. After establishing the dynamic equations of TOMRs, the optimal control theory is used to solve the minimum-energy trajectory. Various simulations are performed and the consumed energy is compared to the conventional velocity trajectory with trapezoidal velocity profile. Simulation results reveal that the energy saving is achieved of up to 7.55% compared to the conventional trapezoidal velocity profile.
Keywords :
battery powered vehicles; mobile robots; motion control; optimal control; position control; battery-powered three-wheeled omni-directional mobile robot; energy saving; minimum-energy trajectory planning algorithm; optimal control theory; rotational motion; translational motion; trapezoidal velocity profile; velocity trajectory; Batteries; DC motors; Mobile robots; Robot kinematics; Trajectory; Wheels; DC motor actuators; Minimum-energy control; Omni-directional mobile robot; Optimal trajectory;
Conference_Titel :
Control Automation and Systems (ICCAS), 2010 International Conference on
Conference_Location :
Gyeonggi-do
Print_ISBN :
978-1-4244-7453-0
Electronic_ISBN :
978-89-93215-02-1
