Abstract: Four-wheel drive omni-directional mobile robots (FDOMRs) usually carry limited energy and have to accomplish their tasks before deadlines. Energy saving can be achieved in several ways, and one of that is determining a velocity trajectory. To find the minimum energy trajectory, a practical cost function is chosen as the total energy drawn from the batteries. However, the cost function is a free final time optimal control problem, which is usually complex and has no explicit solution. A normalized time variable is used to transform the original ...
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Topics: 
Mathematical optimization
Simulation