Authors:
Mauricio F. Jaramillo Morales
and
Juan B. Gómez Mendoza
Affiliation:
Electrical, Electronic and Computer Engineering, National University, Manizales and Colombia
Keyword(s):
Energy Model, Dynamic Model, Gaussian Path Planning, Mobile Robot.
Related
Ontology
Subjects/Areas/Topics:
Informatics in Control, Automation and Robotics
;
Mechatronics Systems
;
Mobile Robots and Autonomous Systems
;
Modeling, Simulation and Architectures
;
Robot Design, Development and Control
;
Robotics and Automation
Abstract:
Energy consumption is an important issue for mobile robots that carry a limited energy sources, like batteries, for a long period of time. An energy model can relate the kinematic movements of the robot with energy values, giving an estimation of the energy needed for the robot to fulfill a specific task. In this study an energy model is proposed, based on the dynamic parameters of the mobile robot, as well as the motors, given an energy value close to real energy consumption. Mixed energy model is tested with a well-known motor energy model, using the velocities related to straight and curvature paths as input. In the results, a higher energy consumption value is identified by the mixed energy model, especially when the acceleration of the mobile robot increases. Energy models are configured with P3-DX robot mobile parameters.