A Step Toward Mobile Robots Autonomy: Energy Estimation Models
| Autor: | Sébastien Druon, Lotfi Jaiem, Didier Crestani, Lionel Lapierre |
|---|---|
| Přispěvatelé: | Robotique mobile pour l'exploration de l'environnement (EXPLORE), Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM), Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM), Institut Universitaire de Technologie - Montpellier (IUT Montpellier – Sète), Université de Montpellier (UM) |
| Jazyk: | angličtina |
| Rok vydání: | 2016 |
| Předmět: |
0209 industrial biotechnology
Energy Exploit Consumption model Computer science Distributed computing Real-time computing Control (management) Fault tolerance Mobile robot 02 engineering and technology Energy consumption Control architecture [SPI.AUTO]Engineering Sciences [physics]/Automatic Identification (information) 020901 industrial engineering & automation 0202 electrical engineering electronic engineering information engineering 020201 artificial intelligence & image processing Protocol (object-oriented programming) Autonomy Energy (signal processing) |
| Zdroj: | 17th Annual Conference Towards Autonomous Robotic Systems TAROS: Towards Autonomous Robotic Systems TAROS: Towards Autonomous Robotic Systems, Jun 2016, Sheffield, United Kingdom. pp.177-188, ⟨10.1007/978-3-319-40379-3_18⟩ Towards Autonomous Robotic Systems ISBN: 9783319403786 TAROS |
| DOI: | 10.1007/978-3-319-40379-3_18⟩ |
| Popis: | International audience; One of the crucial questions to develop Autonomous Mobile Robotic systems is the energy consumption, its monitoring and management all along the mission. Mission complexity and fault tolerance capabilities require to exploit system redundancies, in terms of algorithms and hardware recruitment. This choice has an evident impact on energy consumption. This paper proposes an identification protocol to establish the energy consumption models for each control configuration of a Pioneer 3DX. These models are destined to be used as online pre-dictors providing an estimation of the necessary remaining energy that mission success 'nominally' requires. At the end, the proposed energy consumption models are validated and discussed experimentally. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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