A Minimum-energy Trajectory Tracking Controller for Four-wheeled Omni-directional Mobile Robot

摘要

Four-wheeled omni-directional mobile robot driven by four electric motors is a typical redundant system. Aiming at the problem that the traditional trajectory tracking algorithm for this kind of robots cannot consider the input redundancy, a minimum-energy trajectory tracking algorithm is proposed. Firstly, a kinematics model of four-wheeled omni-directional mobile robot is built. Secondly, a trajectory tracking controller is designed based on the kinematics model. And then, considering the wheel velocity redundancy, a particle swarm optimization and genetic algorithm hybrid optimization algorithm (PSO-GA) are applied to search for the best inputs by minimizing the motion energy. Finally, the simulation of trajectory tracking control system is carried out on the platform of Matlab 2016a. The results indicate that the trajectory tracking control system of four-wheeled omni-directional mobile robot based on the designed algorithm has good stability and accuracy with minimum-energy consumption.