Energy-efficient Trajectory Planning for Omnidirectional Mobile Robots with Improved WDO Algorithm

In this paper, an Omnidirectional Mobile Robot (OMR) based on Powed Dual-Roller Caster Wheels (PDRCW) is studied. In order to realize energy-efficient trajectory planning for the OMR, the kinematic and dynamic models of the OMR are established. As the Wind Drive Optimization (WDO) algorithm has the advantages of high robustness and strong ability to obtain global optimal solution for multi-dimensional and multi-modal non-linear problems, it is suitable for solving the trajectory planning problem of the OMR. In order to improve the computational efficiency of the traditional WDO algorithm, an improved Chaotic Tent Mapping WDO (CTWDO) algorithm is employed. The simulation results show that, the trajectory generated by CTWDO consumes less energy, which is 8.4% and 3.9% lower than PSO and WDO, respectively. The convergence time of WDO is shorter, which is 3.8% and 6.3% lower than that of PSO and WDO algorithms, respectively.