Abstract
Four-wheel Mecanum mobile robots (FWMRs) are widely used in transportation because of their omnidirectional mobility. However, the FWMR trades off energy efficiency for flexibility. To efficiently predict the energy consumption of the robot movement processes, this paper proposes a power consumption model for the omnidirectional movement of an FWMR. A power consumption model is of great significance for reducing the power consumption, motion control, and path planning of robots. However, FWMRs are highly maneuverable, meaning their control is complicated and their energy modeling is extremely complex. The speed, distance, path, and power consumption of the robot can vary greatly depending on the control method. This energy model was mathematically implemented in MATLAB and validated by our laboratory’s Mecanum wheel robot. The prediction accuracy of the model was over 95% through simulation and experimental verification.
Highlights
In recent years, with the extensive use of mobile robots, more and more researchers have focused on reducing the energy consumption of these robots
Four-wheel Mecanum mobile robots (FWMRs) do not need to change their body postures while in omnidirectional motion, and they can rotate around their center at the same time
FWMRs are structurally symmetrical and holonomic [22], which enables them to move in any direction within 360◦
Summary
With the extensive use of mobile robots, more and more researchers have focused on reducing the energy consumption of these robots. The path is an important parameter consumption of the robot into three systems (i.e., the control system, the sensing system, and the of energy considering only the for energy of is the would be motionconsumption, system), whichbut were analyzed separately powerconsumption consumption.model. A complete energy model cover all the energy consumption consumption associated with robot control and motion. It is to possible to obtain accurate energy consumption in the cases of different control methods and motion modes of the robot. Energy-saving motion control is an important research issue in mobile robots [13]. The energy consumption of the moving part is the largest, so the motion plan is a very important research direction direction [17] Since they theymove moveusing usingfour fourindependent independentmotor motoractuators, actuators, FWMRs can move.
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