Energy-efficient motion planning for mobile robots

Energy-efficient motion planning for mobile robots

This paper presents a new approach to find energy-efficient motion plans for mobile robots. Motion planning has two goals: finding the routes and determining the velocities. We model the relationship of motors' speed and their power consumption with polynomials. The velocity of the robot is rel...

Ausführliche Beschreibung

Gespeichert in:
Bibliographische Detailangaben
Hauptverfasser: Yongguo Mei, Yung-Hsiang Lu, Hu, Y.C., Lee, C.S.G.
Format: Tagungsbericht
Sprache:eng
Schlagworte:
Acceleration
Applied sciences
Communication system control
Computer science
control theory
systems
Control theory. Systems
DC motors
Energy conservation
Energy consumption
Energy efficiency
Exact sciences and technology
Mobile robots
Motion planning
Orbital robotics
Robotics
Velocity control
Online-Zugang:Volltext bestellen
Tags: Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
Beschreibung
Zusammenfassung:This paper presents a new approach to find energy-efficient motion plans for mobile robots. Motion planning has two goals: finding the routes and determining the velocities. We model the relationship of motors' speed and their power consumption with polynomials. The velocity of the robot is related to its wheels' velocities by performing a linear transformation. We compare the energy consumption of different routes at different velocities and consider the energy consumed for acceleration and turns. We use experiment-validated simulation to demonstrate up to 51% energy savings for searching an open area.
ISSN:1050-4729
2577-087X
DOI:10.1109/ROBOT.2004.1302401