SUMMARYThe Mecanum wheel is one of the practical omni-directional wheel designs in industry, especially for heavy-duty tasks in a confined floor. An issue with Mecanum-wheeled robots is inefficient use of energy. In this study, the robotic motion trajectories are optimized to minimize the energy consumption, where a robotic path is expressed in polynomial functions passing through a given set of via points, and a genetic algorithm is used to find the polynomial’s coefficients being decision variables. To attempt a further reduction in the energy consumption, the via points are also taken as decision variables for the optimization. Both simulations and experiments are conducted, and the results show that the optimized trajectories result in a significant reduction in energy consumption, which can be further lowered when the via points become decision variables. It is also found that the higher the order of the polynomials the larger the reduction in the energy consumption.

中文翻译：

---

基于多项式函数的全向麦克纳轮机器人能量最优运动轨迹

摘要麦克纳姆轮是工业中实用的全向轮设计之一，尤其适用于狭窄地板中的重型任务。麦克纳姆轮式机器人的一个问题是能源利用效率低下。在这项研究中，机器人运动轨迹被优化以最小化能量消耗，其中机器人路径以多项式函数表示，通过一组给定的通孔点，并使用遗传算法找到多项式的系数作为决策变量。为了进一步降低能耗，通孔点也被用作优化的决策变量。进行了模拟和实验，结果表明优化的轨迹可以显着降低能耗，当通路点成为决策变量时，可以进一步降低。还发现多项式的阶数越高，能耗的降低幅度越大。