Abstract
Energy autonomy is an important aspect that needs to be improved in order to increase efficiency in mobile robotic tasks. Having accurate power models allows the estimation of energy consumption along different trajectories. This article proposes a power model for two-wheel differential drive mobile robots. The proposed model takes into account the dynamic parameters of the robot and its motors, and predicts the energy consumption for trajectories with variable accelerations and variable payloads. The experimental validation of the proposed model was performed with a Nomad Super Scout II mobile robot which was driven along straight and curved trajectories, with different payloads and accelerations. The experiments using the proposed model showed accuracies of 96.67% along straight trajectories and 81.25% along curved trajectories in the estimation of energy consumption.
Highlights
Technological advancement has promoted a continuous increase in the use of mobile robots in a wide range of applications
Energy autonomy is still a major issue that slows down the widespread utilization of mobile robots
Sudden changes of velocity and variations in payloads along trajectories, which are common in solving robotic tasks, lead to power fluctuations and variable energy consumptions
Summary
Technological advancement has promoted a continuous increase in the use of mobile robots in a wide range of applications. Tokekar et al.[15] studied the influence of friction between robot wheels and different kinds of surfaces on the energy consumption in car-like robots, eventually proposing a calibration procedure to estimate the parameters of the dynamic model of the motor, including the internal friction torque. Mei et al.[16] estimate the power consumption of a two-wheel differential drive robot using a sixthdegree polynomial model for its direct current motors and compare the efficiency of different motion profiles for area coverage scenarios. This article focuses on the power consumption of the drive system of two-wheel differential drive robots, taking into account both varying payload and accelerations It extends the state of the art by presenting a Lagrangebased dynamic model, which explicitly includes the dynamic parameters of both the robot and the motor. V 1⁄4 1⁄2V1 V2T Armature voltages of the motors of the robot i 1⁄4 1⁄2i1 i2T Currents of the motors of the robot P 1⁄4 1⁄2P1 P2T Power consumed of the motors of the robot
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