Minimum-energy Optimal Control System for Four- wheeled Omni-directional Mobile Robot

The four-wheeled omnidirectional mobile robot driven by four electric motors is a typical redundant system. In this paper, a minimum-energy optimal control system for motion control of a four-wheeled omnidirectional mobile robot is presented. The kinematics of the mobile robot is built. And then a trajectory tracking controller is designed based on the kinematics model. Considering the wheel velocity redundancy, a harmony search and genetic algorithm hybrid optimization algorithm is applied to search for the best inputs by minimizing the motion energy. The designed control algorithm has been extensively tested in simulation. The obtained results indicate that the trajectory tracking control system has good stability and accuracy with minimum-energy consumption.