Power Consumption Modeling of Wheeled Mobile Robots With Multiple Driving Modes

Bensekrane, Ismail

doi:10.1109/tie.2022.3217603

Cited by 4 publications

(1 citation statement)

References 33 publications

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“…This information can determine posture, restrictions, and degree of mobility and manoeuvrability (steerability). After estimating the model parameters, they can be used in feedback loops to design and implement control strategies such as path tracking and energy estimation and management [29][30][31]. Thus, kinematic and dynamic models are fundamental for developing electric off-road vehicles and Agribots [32].…”

Section: Introductionmentioning

confidence: 99%

Real-Time Hardware-in-the-Loop Emulation of Path Tracking in Low-Cost Agricultural Robots

Moreno,

Ouardani,

Chaparro-Arce

et al. 2023

Vehicles

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Reducing costs and time spent in experiments in the early development stages of vehicular technology such as off-road and agricultural semi-autonomous robots could help progress in this research area. In particular, evaluating path tracking strategies in the semi-autonomous operation of robots becomes challenging because of hardware costs, the time required for preparation and tests, and constraints associated with external aspects such as meteorological or weather conditions or limited space in research laboratories. This paper proposes a methodology for the real-time hardware-in-the-loop emulation of path tracking strategies in low-cost agricultural robots. This methodology enables the real-time validation of path tracking strategies before their implementation on the robot. To validate this, we propose implementing a path tracking strategy using only the information of motor’s angular speed and robot yaw velocity obtained from encoders and a low-cost inertial measurement unit (IMU), respectively. This paper provides a simulation with MATLAB/Simulink, hardware-in-the-loop with Qube-servo (Quanser), and experimental results with an Agribot platform to confirm its validity.

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