Time-energy Optimal Trajectory Planning over a Fixed Path for a Wheeled Mobile Robot

Werther Alexandre de Oliveira Serralheiro, Newton Maruyama

2017

Abstract

In this paper a method for time-energy optimal velocity profile planning for a nonholonomic wheeled mobile robot (WMR) is proposed. Instead of relying on a nonlinear programming algorithm, the method utilizes a nonlinear change of variables that can transform the nonlinear optimization problem into a convex optimization problem. The equations are then discretized and later formulated as a second order cone programming that can be solved by the Matlab CVX toolbox. The formulation of the objective function has two components: the total energy and the traversal time that is weighted by a parameter named penalty coefficient. With the use of the penalty coefficient one can easily establish a trade-off between the optimization of total energy and traversal time. If the penalty coefficient is increased then minimization of time is more prioritized than the total energy and vice versa. The formulation gives rise to a Pareto optimality condition from which it is not possible to diminish the traversal time without increasing the total energy and vice versa.

Paper Citation

in Harvard Style

Serralheiro W. and Maruyama N. (2017). Time-energy Optimal Trajectory Planning over a Fixed Path for a Wheeled Mobile Robot . In Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-264-6, pages 239-246. DOI: 10.5220/0006398702390246

in Bibtex Style

@conference{icinco17,
author={Werther Alexandre de Oliveira Serralheiro and Newton Maruyama},
title={Time-energy Optimal Trajectory Planning over a Fixed Path for a Wheeled Mobile Robot},
booktitle={Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2017},
pages={239-246},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006398702390246},
isbn={978-989-758-264-6},
}

in EndNote Style

TY - CONF
JO - Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Time-energy Optimal Trajectory Planning over a Fixed Path for a Wheeled Mobile Robot
SN - 978-989-758-264-6
AU - Serralheiro W.
AU - Maruyama N.
PY - 2017
SP - 239
EP - 246
DO - 10.5220/0006398702390246