A Minimum-Energy Consumption Control Algorithm for Omni-Directional Mobile Robots

摘要

A minimum-energy consumption control algorithm is applied to motion control of a four-wheel drive omni-directional mobile robot (FDOMR) in actual application environment. After establishing the robot’s dynamic equations with motor model, we have chosen a practical cost function as the total energy drawn from the batteries. Considering the translation and rotation, we have found out the velocity curve by optimal control theory. Various simulations are performed and the consumed energy is compared to the normal control method that without minimum energy consumption control. Simulation results reveal that the energy saving is much more compared to the traditional control, the operational time of the FDOMR with given batteries is lengthened and the efficiency of battery is improved.