@inproceedings{8fdc5ae17318428fa4abe9e19c5ac02d,
title = "Energy modeling of differential drive robots",
abstract = "Improving the energy efficiency of robots and increasing the time of operation has been a very hot research topic in recent times there has been a lot of work on optimizing energy consumption, especially in mobile robots. Researchers have been focused on designing motion planning techniques along with velocity control to reduce the energy expenditure. But there has been a lack of a well-defined and a complete energy model that can act as a cost function for all the optimization algorithms. Having such a model not only provides a platform for energy loss control but can also give an idea about the nature of the losses and the cause of their occurrence. In this paper we first investigated the various energy loss components in a differential drive robot and presented a well-defined and a complete energy model. In order to validate our model we moved the robot with a specific velocity profile and measured all the losses.",
keywords = "DC motors, Differential Drive Robots, Energy Cost Function, Energy Modeling, Kinetic Energy, Robot's Energy, Rolling Friction",
author = "Mudasser Wahab and Fernando Rios-Gutierrez and {El Shahat}, Adel",
note = "Publisher Copyright: {\textcopyright} 2015 IEEE.; IEEE SoutheastCon 2015 ; Conference date: 09-04-2015 Through 12-04-2015",
year = "2015",
month = jun,
day = "24",
doi = "10.1109/SECON.2015.7133023",
language = "English",
series = "Conference Proceedings - IEEE SOUTHEASTCON",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
number = "June",
booktitle = "IEEE SoutheastCon 2015 - Conference Proceedings",
address = "United States",
edition = "June",
}