The minimum-energy trajectory planning algorithm on a tangent with translational and rotational motion is proposed for battery-powered three-wheeled omni-directional mobile robots (TOMRs). We have chosen a practical cost function as the total energy drawn from the batteries, in order to lengthen the operational time of a mobile robot with given batteries. After establishing the dynamic equations of TOMRs, the optimal control theory is used to solve the minimum-energy trajectory. Various simulations are performed and the consumed energy is compared to the conventional velocity trajectory with trapezoidal velocity profile. Simulation results reveal that the energy saving is achieved of up to 7.55% compared to the conventional trapezoidal velocity profile.
