Towards Optimal Computation of Energy Optimal Trajectory for Mobile Robots

The paper proposes a method for determining energy optimal trajectory from source position to goal position for differential drive robots. Energy consumption depends on the velocity profile of the generated trajectory. The proposed method makes use of Dubins path of optimum turning radius to plan the trajectory between two waypoints. The results are compared with other methods in terms of energy consumption for the generated trajectories using simulation. The proposed method computes energy optimal trajectory in linear time complexity with respect to the number of waypoints.