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.

中文翻译：

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完整机器人能量最优运输轨迹规划与在线轨迹修正

为了最大限度地提高能源效率，我们建议三轮全方位移动机器人 (TOMR) 的最小能量轨迹规划和在线轨迹修改算法。首先，使用 Pontryagin 的最小原理执行针对各种约束的最小能量多段轨迹规划。建立了两种策略来制定有效的最小能量、多段轨迹生成算法：使用新颖的启发式函数研究在线轨迹修改和保持能量效率的控制算法。与使用梯形速度剖面的常规轨迹相比，生成的运输轨迹可以节省能量。