Energy estimation and comparison for a dynamic trajectory planning mobile robot intercepting a moving target using Bezier curve

This paper presents a comparison between the power consumption estimate for a dynamic trajectory planning nonholonomic mobile robot intercepting a moving target with and without velocity and continuity constraints. The path is formulated using cubic Bezier curves. As the trajectory is modified with the moving target, the effect on the velocity profile and its impact on the power consumption are studied. Energy estimation is based on kinetic energy transformation and traction resistance. Simulation results are discussed and possible extensions for minimizing the consumption with a trade-off comparison are presented.