{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,5,13]],"date-time":"2025-05-13T21:56:11Z","timestamp":1747173371542,"version":"3.40.5"},"reference-count":16,"publisher":"Cambridge University Press (CUP)","issue":"8","license":[{"start":{"date-parts":[[2019,11,6]],"date-time":"2019-11-06T00:00:00Z","timestamp":1572998400000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2020,8]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>The Mecanum wheel is one of the practical omni-directional wheel designs in industry, especially for heavy-duty tasks in a confined floor. An issue with Mecanum-wheeled robots is inefficient use of energy. In this study, the robotic motion trajectories are optimized to minimize the energy consumption, where a robotic path is expressed in polynomial functions passing through a given set of via points, and a genetic algorithm is used to find the polynomial\u2019s coefficients being decision variables. To attempt a further reduction in the energy consumption, the via points are also taken as decision variables for the optimization. Both simulations and experiments are conducted, and the results show that the optimized trajectories result in a significant reduction in energy consumption, which can be further lowered when the via points become decision variables. It is also found that the higher the order of the polynomials the larger the reduction in the energy consumption.<\/jats:p>","DOI":"10.1017\/s026357471900153x","type":"journal-article","created":{"date-parts":[[2019,11,6]],"date-time":"2019-11-06T09:08:47Z","timestamp":1573031327000},"page":"1400-1414","source":"Crossref","is-referenced-by-count":9,"title":["Energy-Optimal Motion Trajectory of an Omni-Directional Mecanum-Wheeled Robot via Polynomial Functions"],"prefix":"10.1017","volume":"38","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-2008-6230","authenticated-orcid":false,"given":"Li","family":"Xie","sequence":"first","affiliation":[]},{"given":"Karl","family":"Stol","sequence":"additional","affiliation":[]},{"given":"Weiliang","family":"Xu","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2019,11,6]]},"reference":[{"key":"S026357471900153X_ref16","doi-asserted-by":"publisher","DOI":"10.1109\/AMC.2016.7496410"},{"key":"S026357471900153X_ref10","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2013.2293706"},{"key":"S026357471900153X_ref3","unstructured":"3. Diegel, O. , Badve, A. , Bright, G. , Potgieter, J. and Tlale, S. , \u201cImproved Mecanum Wheel Design for Omni-Directional Robots,\u201d Proceedings of Australasian Conference on Robotics and Automation, Auckland, New Zealand (2002) pp. 117\u2013121."},{"key":"S026357471900153X_ref15","first-page":"1729881418754563","article-title":"Power-minimization and energy-reduction autonomous navigation of an omnidirectional Mecanum robot via the dynamic window method local trajectory planning","volume":"15","author":"Xie","year":"2018","journal-title":"Int. J. Adv. Rob. Syst"},{"key":"S026357471900153X_ref1","first-page":"1","volume-title":"IEEE International Conference on Robotics and Automation (ICRA)","author":"Bischoff","year":"2011"},{"key":"S026357471900153X_ref6","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2013.2241777"},{"key":"S026357471900153X_ref2","unstructured":"2. Adascalitei, F. and Doroftei, I. , \u201cPractical Applications for Mobile Robots based on Mecanum Wheels \u2013 a Systematic Survey,\u201d Proceedings of International Conference on Innovations, Recent Trends and Challenges in Mechatronics, Mechanical Engineering and New High-Tech Products Development \u2013 MECAHITECH\u201911, Bucharest, Romania, vol. 3, (2011) pp. 112\u2013123."},{"key":"S026357471900153X_ref8","doi-asserted-by":"publisher","DOI":"10.1109\/TCST.2003.810394"},{"key":"S026357471900153X_ref4","first-page":"4344","volume-title":"IEEE International Conference on Robotics and Automation, Proceedings","author":"Mei","year":"2004"},{"key":"S026357471900153X_ref7","doi-asserted-by":"publisher","DOI":"10.1109\/TSMCA.2010.2044038"},{"key":"S026357471900153X_ref13","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechatronics.2003.10.001"},{"key":"S026357471900153X_ref12","doi-asserted-by":"publisher","DOI":"10.1163\/156855399X00171"},{"key":"S026357471900153X_ref5","doi-asserted-by":"crossref","first-page":"102","DOI":"10.1109\/TRO.2004.837232","article-title":"On finding energy-minimizing paths on terrains","volume":"21","author":"Sun","year":"2005","journal-title":"IEEE Trans. Rob"},{"key":"S026357471900153X_ref14","unstructured":"14. Yang, L. , Luo, Z. , Tang, Z. and Lv, W. , \u201cPath Planning Algorithm for Mobile Robot Obstacle Avoidance Adopting Bezier Curve Based on Genetic Algorithm,\u201d Control and Decision Conference (CCDC) (2008) pp. 3286\u20133289."},{"key":"S026357471900153X_ref9","doi-asserted-by":"publisher","DOI":"10.1007\/s10846-007-9142-0"},{"key":"S026357471900153X_ref11","unstructured":"11. Paul, R. P. and Zhang, H. , \u201cRobot Motion Trajectory Specification and Generation,\u201d 2nd International Symposium on Robotics Research, Kyoto, Japan (1984)."}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S026357471900153X","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2020,7,16]],"date-time":"2020-07-16T08:25:32Z","timestamp":1594887932000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S026357471900153X\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2019,11,6]]},"references-count":16,"journal-issue":{"issue":"8","published-print":{"date-parts":[[2020,8]]}},"alternative-id":["S026357471900153X"],"URL":"https:\/\/doi.org\/10.1017\/s026357471900153x","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"type":"print","value":"0263-5747"},{"type":"electronic","value":"1469-8668"}],"subject":[],"published":{"date-parts":[[2019,11,6]]}}}