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Energy-Optimal Motion Trajectory of an Omni-Directional Mecanum-Wheeled Robot via Polynomial Functions

Published online by Cambridge University Press:  06 November 2019

Li Xie Open the ORCID record for Li Xie [Opens in a new window] ,
Karl Stol  and
Weiliang Xu
Li Xie*
Affiliation:
Department of Mechanical Engineering, University of Auckland (UoA), Auckland, New Zealand, E-mails: k.stol@auckland.ac.nz, p.xu@auckland.ac.nz
Karl Stol
Affiliation:
Department of Mechanical Engineering, University of Auckland (UoA), Auckland, New Zealand, E-mails: k.stol@auckland.ac.nz, p.xu@auckland.ac.nz
Weiliang Xu
Affiliation:
Department of Mechanical Engineering, University of Auckland (UoA), Auckland, New Zealand, E-mails: k.stol@auckland.ac.nz, p.xu@auckland.ac.nz
*
*Corresponding author. E-mail: lxie021@aucklanduni.ac.nz
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Summary

The 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.

Keywords

Mecanum wheelOmni-directional robotEnergy optimizationMotion planningTrajectory generation
Type
Articles
Information
Robotica , Volume 38 , Issue 8 , August 2020 , pp. 1400 - 1414
Copyright
© Cambridge University Press 2019

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