A Minimum-energy Consumption Control Algorithm of Control Vector Parameterization for Four-wheel Drive Omni-directional Mobile Robots

Abstract

Abstract A minimum-energy consumption control algorithm of control vector parameterization 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 about motor model, we have chosen a practical cost function as the total energy drawn from the batteries. By introducing a normalized time variable, the original problem is transformed into a fixed final time optimal control problem which is solved by using uniform control vector parameterization. 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.