Optimal motion planning of a mobile robot with minimum energy consumption

Shuang Liu; Dong Sun

doi:10.1109/AIM.2011.6027010

Optimal motion planning of a mobile robot with minimum energy consumption

Shuang Liu
, Dong Sun

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

43 Citations (Scopus)

Abstract

This paper presents an optimal motion planning of a mobile robot with the objective of minimum energy consumption. The energy consumption is analyzed in both geometric path planning and smooth trajectory planning. A global path planner is developed by treating energy efficiency as the central element in the cost function. Utilizing waypoints of the generated optimal path, a smooth trajectory is planned based on Bézier curve in terms of parameters of arrival time and velocity at each waypoint. Energy consumption is further minimized by optimizing these parameters. Simulations and experiments are finally performed to demonstrate the efficiency of the proposal motion planning approach to energy minimization. © 2011 IEEE.

Original language	English
Title of host publication	IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
Pages	43-48
DOIs	https://doi.org/10.1109/AIM.2011.6027010
Publication status	Published - 2011
Event	2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2011 - Budapest, Hungary Duration: 3 Jul 2011 → 7 Jul 2011

Conference

Conference	2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2011
Place	Hungary
City	Budapest
Period	3/07/11 → 7/07/11

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 7 Affordable and Clean Energy

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AB - This paper presents an optimal motion planning of a mobile robot with the objective of minimum energy consumption. The energy consumption is analyzed in both geometric path planning and smooth trajectory planning. A global path planner is developed by treating energy efficiency as the central element in the cost function. Utilizing waypoints of the generated optimal path, a smooth trajectory is planned based on Bézier curve in terms of parameters of arrival time and velocity at each waypoint. Energy consumption is further minimized by optimizing these parameters. Simulations and experiments are finally performed to demonstrate the efficiency of the proposal motion planning approach to energy minimization. © 2011 IEEE.

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DO - 10.1109/AIM.2011.6027010

M3 - RGC 32 - Refereed conference paper (with host publication)

SN - 9781457708381

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BT - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

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Y2 - 3 July 2011 through 7 July 2011

ER -

Optimal motion planning of a mobile robot with minimum energy consumption

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