Energy Modeling of Differential Drive Robots
Location
Room 2903
Session Format
Paper Presentation
Research Area Topic:
Engineering and Material Sciences - Electrical
Co-Presenters and Faculty Mentors or Advisors
Dr. Fernando Rios-Gutierrez
Dr. Adel El Shahat
Abstract
Improving the energy efficiency of robots and increasing the time of operation has been a very hot research topic in recent times. There has been a lot of work on optimizing energy consumption especially in mobile robots. Researchers have been focused on designing motion planning techniques along with velocity control to reduce the energy consumption. But there has been a lack of a well-defined and a complete energy model that can act as a cost function for all the optimization algorithms. Having such a model not only provides a platform for energy loss control but also provides an idea about the nature of the losses and the cause for their occurrence. In this paper we first investigated the various energy loss components in a differential drive robot and presented a well-defined and a complete energy model. In order to validate our model we moved the robot with a specific velocity profile and measured all the losses.
Keywords
Energy, Modeling, Differential drive robots, Energy efficiency, Optimization
Presentation Type and Release Option
Presentation (Open Access)
Start Date
4-24-2015 4:00 PM
End Date
4-24-2015 5:00 PM
Recommended Citation
Wahab, Mudasser, "Energy Modeling of Differential Drive Robots" (2015). GS4 Georgia Southern Student Scholars Symposium. 159.
https://digitalcommons.georgiasouthern.edu/research_symposium/2015/2015/159
Energy Modeling of Differential Drive Robots
Room 2903
Improving the energy efficiency of robots and increasing the time of operation has been a very hot research topic in recent times. There has been a lot of work on optimizing energy consumption especially in mobile robots. Researchers have been focused on designing motion planning techniques along with velocity control to reduce the energy consumption. But there has been a lack of a well-defined and a complete energy model that can act as a cost function for all the optimization algorithms. Having such a model not only provides a platform for energy loss control but also provides an idea about the nature of the losses and the cause for their occurrence. In this paper we first investigated the various energy loss components in a differential drive robot and presented a well-defined and a complete energy model. In order to validate our model we moved the robot with a specific velocity profile and measured all the losses.
