{"title":"电池驱动三轮全向移动机器人切线上的最小能量轨迹规划","authors":"Hong-Jun Kim, B. Kim","doi":"10.1109/ICCAS.2010.5669769","DOIUrl":null,"url":null,"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.","PeriodicalId":158687,"journal":{"name":"ICCAS 2010","volume":"6 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2010-12-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"9","resultStr":"{\"title\":\"Minimum-energy trajectory planning on a tangent for battery-powered three-wheeled omni-directional mobile robots\",\"authors\":\"Hong-Jun Kim, B. Kim\",\"doi\":\"10.1109/ICCAS.2010.5669769\",\"DOIUrl\":null,\"url\":null,\"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.\",\"PeriodicalId\":158687,\"journal\":{\"name\":\"ICCAS 2010\",\"volume\":\"6 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2010-12-17\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"9\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"ICCAS 2010\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ICCAS.2010.5669769\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"ICCAS 2010","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICCAS.2010.5669769","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Minimum-energy trajectory planning on a tangent for battery-powered three-wheeled omni-directional mobile robots
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.
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