Energy estimation for differential drive mobile robots on straight and rotational trajectories
Energy autonomy is an important aspect that needs to be improved in order to increase efficiency in mobile robotic tasks. Having accurate power models allows the estimation of energy consumption along different trajectories. This article proposes a power model for two-wheel differential drive mobile...
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2020-03-01
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Series: | International Journal of Advanced Robotic Systems |
Online Access: | https://doi.org/10.1177/1729881420909654 |
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doaj-f6b11818405c46ca87b23fdbc902e6e22020-11-25T03:39:10ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142020-03-011710.1177/1729881420909654Energy estimation for differential drive mobile robots on straight and rotational trajectoriesMauricio F Jaramillo-Morales0Sedat Dogru1Juan B Gomez-Mendoza2Lino Marques3 Department of Electrical, Electronic and Computer Engineering, National University of Colombia, Manizales, Colombia Department of Electrical and Computer Engineering, Institute of Systems and Robotics, University of Coimbra, Coimbra, Portugal Department of Electrical, Electronic and Computer Engineering, National University of Colombia, Manizales, Colombia Department of Electrical and Computer Engineering, Institute of Systems and Robotics, University of Coimbra, Coimbra, PortugalEnergy autonomy is an important aspect that needs to be improved in order to increase efficiency in mobile robotic tasks. Having accurate power models allows the estimation of energy consumption along different trajectories. This article proposes a power model for two-wheel differential drive mobile robots. The proposed model takes into account the dynamic parameters of the robot and its motors, and predicts the energy consumption for trajectories with variable accelerations and variable payloads. The experimental validation of the proposed model was performed with a Nomad Super Scout II mobile robot which was driven along straight and curved trajectories, with different payloads and accelerations. The experiments using the proposed model showed accuracies of 96.67% along straight trajectories and 81.25% along curved trajectories in the estimation of energy consumption.https://doi.org/10.1177/1729881420909654 |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Mauricio F Jaramillo-Morales Sedat Dogru Juan B Gomez-Mendoza Lino Marques |
spellingShingle |
Mauricio F Jaramillo-Morales Sedat Dogru Juan B Gomez-Mendoza Lino Marques Energy estimation for differential drive mobile robots on straight and rotational trajectories International Journal of Advanced Robotic Systems |
author_facet |
Mauricio F Jaramillo-Morales Sedat Dogru Juan B Gomez-Mendoza Lino Marques |
author_sort |
Mauricio F Jaramillo-Morales |
title |
Energy estimation for differential drive mobile robots on straight and rotational trajectories |
title_short |
Energy estimation for differential drive mobile robots on straight and rotational trajectories |
title_full |
Energy estimation for differential drive mobile robots on straight and rotational trajectories |
title_fullStr |
Energy estimation for differential drive mobile robots on straight and rotational trajectories |
title_full_unstemmed |
Energy estimation for differential drive mobile robots on straight and rotational trajectories |
title_sort |
energy estimation for differential drive mobile robots on straight and rotational trajectories |
publisher |
SAGE Publishing |
series |
International Journal of Advanced Robotic Systems |
issn |
1729-8814 |
publishDate |
2020-03-01 |
description |
Energy autonomy is an important aspect that needs to be improved in order to increase efficiency in mobile robotic tasks. Having accurate power models allows the estimation of energy consumption along different trajectories. This article proposes a power model for two-wheel differential drive mobile robots. The proposed model takes into account the dynamic parameters of the robot and its motors, and predicts the energy consumption for trajectories with variable accelerations and variable payloads. The experimental validation of the proposed model was performed with a Nomad Super Scout II mobile robot which was driven along straight and curved trajectories, with different payloads and accelerations. The experiments using the proposed model showed accuracies of 96.67% along straight trajectories and 81.25% along curved trajectories in the estimation of energy consumption. |
url |
https://doi.org/10.1177/1729881420909654 |
work_keys_str_mv |
AT mauriciofjaramillomorales energyestimationfordifferentialdrivemobilerobotsonstraightandrotationaltrajectories AT sedatdogru energyestimationfordifferentialdrivemobilerobotsonstraightandrotationaltrajectories AT juanbgomezmendoza energyestimationfordifferentialdrivemobilerobotsonstraightandrotationaltrajectories AT linomarques energyestimationfordifferentialdrivemobilerobotsonstraightandrotationaltrajectories |
_version_ |
1724540464699277312 |