TRAJECTORY SIMULATION AND ENERGY CONSUMPTION EVALUATION FOR MOBILE ROBOTS EQUIPPED WITH MECANUM WHEELS USING MATLAB

Iosif-Adrian MAROȘAN, Claudia-Emilia GÎRJOB, Mihai CRENGANIȘ, Cristina-Maria BIRIȘ

Abstract


This scientific paper presents the development of a MATLAB script designed for simulating the trajectory of a mobile robot equipped with Mecanum wheels and estimating the energy consumption associated with its movement along the generated trajectory. The simulation considers both direct and inverse kinematics, which are essential for creating the robot’s dynamic model. This dynamic model is used to calculate the trajectory and estimate the energy consumption for the robot’s movement along it.

The MATLAB script includes an interactive graphical interface that allows the user to add points along the robot’s trajectory by specifying coordinates (x, y) and the rotation angle (θ). Based on these inputs, the user can generate and visualize the full trajectory of the robot. Furthermore, the interface allows the selection of three different motion modes for the robot, namely: linear motion (piecewise), interpolated motion (spline), and combined motion (Holonomic). These various motion modes are implemented in the script to provide flexibility and allow the user to observe the robot's behaviour under different motion conditions. This paper focuses on simulating two distinct types of trajectories, each with its own characteristics, and simulating them using the three available motion modes. Following these simulations, energy consumption will be analysed for each trajectory, considering the dynamic factors of the robot’s movement. A comparative analysis of energy consumption across the three motion types applied to the same trajectories will also be conducted to evaluate the energy efficiency of each approach. This comparative analysis will help identify the most efficient solutions for minimizing energy consumption in practical applications of mobile robots with Mecanum wheels. The results obtained will contribute to a deeper understanding of the energy behaviour of mobile robots, providing valuable insights for the design and optimization of autonomous systems with applications in logistics, transportation, and industrial automation.


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References


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