Energy modeling of differential drive robots

Mudasser Wahab, Fernando Rios-Gutierrez, Adel El Shahat

Research output: Contribution to book or proceedingConference articlepeer-review

14 Scopus citations

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.

Original languageEnglish
Title of host publicationIEEE SoutheastCon 2015 - Conference Proceedings
PublisherInstitute of Electrical and Electronics Engineers Inc.
EditionJune
ISBN (Electronic)9781467373005
DOIs
StatePublished - Jun 24 2015
EventIEEE SoutheastCon 2015 - Fort Lauderdale, United States
Duration: Apr 9 2015Apr 12 2015

Publication series

NameConference Proceedings - IEEE SOUTHEASTCON
NumberJune
Volume2015-June
ISSN (Print)1091-0050
ISSN (Electronic)1558-058X

Conference

ConferenceIEEE SoutheastCon 2015
Country/TerritoryUnited States
CityFort Lauderdale
Period04/9/1504/12/15

Scopus Subject Areas

  • Computer Networks and Communications
  • Software
  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Signal Processing

Keywords

  • DC motors
  • Differential Drive Robots
  • Energy Cost Function
  • Energy Modeling
  • Kinetic Energy
  • Robot's Energy
  • Rolling Friction

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