Abstract
In recent years, the use of electric Autonomous Wheeled Mobile Robots (AWMRs) has dramatically increased in transport of the production chain. Generally, AWMRs must operate for several hours on a single battery charge. Since the energy density of the battery is limited, energy efficiency becomes a key element in improving material transportation performance during the manufacturing process. However, energy consumption is influenced by the navigation stages, because the type of motion necessary for the AWMR to perform during a mission is totally defined by these stages. Therefore, this paper analyzes methods of energy efficiency that have been studied recently for AWMR navigation stages. The selected publications are classified into planning and motion control categories in order to identify research gaps. Unlike other similar studies, this work focuses on these methods with respect to their implications for the energy consumption of AWMRs. In addition, by using an industrial Self-Guided Vehicle (SGV), we illustrate the direct influence of the motion planning stage on global energy consumption by means of several simulations and experiments. The results indicate that the reaction of the SGV in response to unforeseen obstacles can affect the amount of energy consumed. Hence, energy constraints must be considered when developing the motion planning of AWMRs.
Highlights
Robots are intelligent machines that sense, process, communicate, and perform multiple tasks through preprogramming
The AICO displayed an improvement in energy efficiency of more than 10% compared to the best results obtained using the classic algorithms
We study the obstacle avoidance problem to show the effect of the local motion planning stage on energy consumption
Summary
Robots are intelligent machines that sense, process, communicate, and perform multiple tasks through preprogramming They are replacing humans in different activities, such as human-centered intelligent robots, which cover all robot capabilities [1]. The number of AWMR is significantly increasing, since they are crucial to different applications in both industry and for service providers [3]. These applications are performed in both indoor and outdoor environments and include activities such as object transportation [4] and power substation inspection [5]. Usage of AWMR will increase, since they can move freely in static or dynamic environments
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