Model Based On-Line Energy Prediction System for Semi-autonomous Mobile Robots

Abstract

-Maximizing energy autonomy is a consistent challenge when deploying mobile robots in ionizing radiation or other hazardous environments. Having a reliable robot system is essential for successful execution of missions and to avoid manual recovery of the robots in environments that are harmful to human beings. For deployment of robots missions at short notice, the ability to know beforehand the energy required for performing the task is essential. This paper presents a on-line method for predicting energy requirements based on the pre-determined power models for a mobile robot. A small mobile robot, Khepera III is used for the experimental study and the results are promising with high prediction accuracy. The applications of the energy prediction models in energy optimization and simulations are also discussed along with examples of significant energy savings.

A Step Toward Mobile Robots Autonomy: Energy Estimation Models

“…5 (a), where it varies between -7% and +8%. It is interesting to notice that the model accuracy of [3] for a Khepera is very similar to the one we have obtained, despite the large weight difference. Fig.…”

“…In the following, the formulation proposed in [3] for a Khepera robot is adapted. Generally, for a given Control Scheme CS, the instantaneous power consumption P of a robot can be decomposed in dynamic and static parts.…”

“…This hypothesis corresponds with the work context where mission is composed by a sequence of straight lines traveled with constant velocities. Another approach developed in [6] and adopted in [3] demonstrates that the DC motor motion power model can be defined by the following polynomial approximation:…”

“…They mainly focus on an identification of the robot energy consumption and energy-aware motion for mission involving a unique control task. In [3], energy consumption predictive models, based on theoretical and experimental analysis of sensors and actuators, are proposed for Khepera III robot. [4] proposes an experimental analysis of power consumption of a Pioneer 3DX (movement energy, sensors and batteries consumption).…”

Estimating Achievable Range of Ground Robots Operating on Single Battery Discharge for Operational Efficacy Amelioration

“…Similar models for estimating the energy consumption of a mission have been studied in [20]- [22]. However, works like [21] assume additive models for the energy, which is not the actual case. This is especially true when the energy is drawn from the common source.…”