Energy‐optimal transport trajectory planning and online trajectory modification for holonomic robots

Abstract

Abstract To maximize energy efficiency, we suggest minimum‐energy trajectory planning and online trajectory modification algorithms for three‐wheeled omni‐directional mobile robots (TOMRs). First, minimum‐energy multisection trajectory planning for various constraints is performed using Pontryagin's minimum principle. Two strategies are established to formulate an efficient minimum‐energy, multisection trajectory generation algorithm: an online trajectory modification and a control algorithm that maintains energy efficiency are investigated using novel heuristic functions. Compared with the conventional trajectory using the trapezoidal velocity profile, the generated transport trajectory can save energy.