Energy Modeling and Power Measurement for Three-Wheeled Omnidirectional Mobile Robots for Path Planning
| Autor: | Liang Zhang, Linfei Hou, Jongwon Kim |
|---|---|
| Jazyk: | angličtina |
| Rok vydání: | 2019 |
| Předmět: |
0209 industrial biotechnology
Heading (navigation) Chassis Computer Networks and Communications Computer science power measurement lcsh:TK7800-8360 02 engineering and technology Automotive engineering 020901 industrial engineering & automation 0202 electrical engineering electronic engineering information engineering Motion planning Electrical and Electronic Engineering Omnidirectional antenna lcsh:Electronics Energy modeling Mobile robot Hardware and Architecture Control and Systems Engineering minimum-energy control energy modeling Signal Processing Robot 020201 artificial intelligence & image processing omnidirectional mobile robots Minimum energy control Efficient energy use |
| Zdroj: | Electronics, Vol 8, Iss 8, p 843 (2019) Electronics Volume 8 Issue 8 |
| ISSN: | 2079-9292 |
| Popis: | Due to their high mobility, mobile robots (MR) are widely used in intelligent manufacturing. Due to the perfect symmetry of the MR of the three-wheeled moving chassis, it can move quickly in a crowded and complex factory environment. Because it is powered by a lithium battery, in order to improve its energy efficiency, we need to ensure that its power consumption is reduced as much as possible in order to avoid frequent battery replacement. The power consumption of MRs has also become an important research focus for researchers. Therefore, a power consumption modeling of the omnidirectional mobility of the three-wheeled omnidirectional mobile robot (TOMR) is proposed in this paper. When TOMR advances heading at different angles, the speed of each wheel changes dramatically. So, the power consumption of robots will also be greatly changed. In this paper, the energy and power consumption of the robot heading in different directions is analyzed and modeled by formulas. This research can be valuable for path planning and control design. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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