Abstract
To improve the energy efficiency of mobile robots and increase their time of operation, a comprehensive energy model is needed. Having such a model requires a lot of complex analysis and design time. There has been a lot of research into optimizing the power consumption of mobile robots but have not benefited from the advantages of languages to model complex cyber-physical systems. In this work, we used the Simscape™ MATLAB® environment to simplify and speed up the design of an energy consumption model of a differential drive mobile robot. We also estimated the energy consumption of the mobile in a different path tracking scenario. Our results show that is possible to obtain a good accuracy of path following with acceptable energy consumption.
Highlights
Due to immense progress in the field of robotics, mobile robot can perform a lot of complicated tasks
Many researchers have been focused on designing motion planning techniques that can reduce the energy consumption of mobile robot
We studied the different components of energy consumption in a differential drive robot and presented an energy model
Summary
Due to immense progress in the field of robotics, mobile robot can perform a lot of complicated tasks. The equation was optimized, and velocity profiles were generated for the robot which helped them save 10% more energy compared to the famous trapezoidal velocity profile. Their energy model was, not complete because they did not consider the power consumption in the electronics of the robot. J.Morales et al [8], presented a mixed energy model that considers the DC motor and the mobile robot dynamic, but did not take into consideration losses due to rolling friction and losses in controller electronics. We used MathWorks® simulation tool MATLAB® SimscapeTM environment to simplify and speed up the design of an energy consumption model of a mobile robot.
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