Energy estimation for differential drive mobile robots on straight and rotational trajectories. (31st March 2020)

• Record Type: Journal Article
• Authors: Jaramillo-Morales, Mauricio F; Dogru, Sedat; Gomez-Mendoza, Juan B; Marques, Lino
• Is Part Of: International journal of advanced robotic systems. Volume 17:Number 2(2020:Mar./Apr.)
• Publication Date: 2020-03-31
• Subjects: Differential drive -- mobile robot -- power model -- estimation; Robotics -- Periodicals; Robotics; Periodicals; 629.892
• DOI: 10.1177/1729881420909654
• Languages: English
• ISSNs: 1729-8806

Abstract

Energy autonomy is an important aspect that needs to be improved in order to increase efficiency in mobile robotic tasks. Having accurate power models allows the estimation of energy consumption along different trajectories. This article proposes a power model for two-wheel differential drive mobile robots. The proposed model takes into account the dynamic parameters of the robot and its motors, and predicts the energy consumption for trajectories with variable accelerations and variable payloads. The experimental validation of the proposed model was performed with a Nomad Super Scout II mobile robot which was driven along straight and curved trajectories, with different payloads and accelerations. The experiments using the proposed model showed accuracies of 96.67% along straight trajectories and 81.25% along curved trajectories in the estimation of energy consumption.