Energy Comparison of Controllers Used for a Differential Drive Wheeled Mobile Robot

Abstract

In order to select the best controller for a Differential Drive Wheeled Mobile Robot (DDWMR), an energy consumption comparison relating to tracking accuracy is used as a very strict criterion. Therefore, this paper reviews some well-known controllers designed for the DDWMR. Furthermore, there are presented several experiments with the extensible open-source code programmed in Python. Such an extensible open-source code presentation could serve as a tool for simulating, comparing, and evaluating a set of different control algorithms. The kinematic and dynamic models of the DDWMR and control algorithms are implemented in this open-source code to determine a travel time, a distance between the robot's position and a given path, a linear velocity, an angular velocity, a travel path length, and a total kinetic energy loss of the DDWMR. These simulation results are used to compare and evaluate the given control algorithms. Moreover, the simulation results also enable to answer the question of whether a significant increase in energy consumption is worth shortening the travel path by just a bit. Finally, this paper includes a direct link to the stored experiments which are runnable and could serve as a proof. Besides, users can also easily supplement with other controllers and different paths to evaluate robot tracking control algorithms.

Criterios de desempeño para evaluar algoritmos de navegación de robots móviles: una revisión

“…El éxito de las aplicaciones con robots móviles depende, en parte, de poder navegar teniendo gran autonomía energética, entendiéndose como el tiempo que puede durar el robot con la suficiente energía para mantenerse operativo con rendimiento óptimo. Es por esta razón que uno de los aspectos que ha ganado interés en los últimos años, es el tema del consumo energético (Stefek et al, 2020), (Mohammadpour et al, 2021). Un robot que no cumple con los requisitos funcionales, la independencia de la fuente de alimentación y su capacidad de recarga, entonces, limita su rendimiento, tiempo operativo y autonomía (Heikkinen et al, 2018).…”

Path Tracking and Position Control of Nonholonomic Differential Drive Wheeled Mobile Robot

“…We can project the robot's linear velocity into the x-axis and y-axis in global coordinate to calculate the robot's global x-axis velocity (7) and y-axis velocity (8). However, angular velocity in global coordinate and local coordinate has the same value as the local robot angular velocity (9).…”

“…The Simulink model was created using ( 5) until (9) to simulate the robot behavior with the mechanical parameter of JetBot in Table 2. The robot will take the angular velocity of each motor as input and have eight states to be observed and as a feedback variable, as shown in Fig.…”

Implementation of Pure Pursuit Algorithm for Nonholonomic Mobile Robot using Robot Operating System

“…Recently, the interest of the differential drive wheeled mobile robots (DDWMR) are increasingly noticed and used in many applications. DDWMRs have some advantages such as flexible motion capability, simple and robust structure, lower costs [13]. DDWMRs can be obtained as 2-wheel [14], 3wheel [15], and 4-wheel [16].…”