Term of Award

Spring 2015

Degree Name

Master of Science in Applied Engineering (M.S.A.E.)

Document Type and Release Option

Thesis (restricted to Georgia Southern)

Copyright Statement / License for Reuse

Creative Commons License
This work is licensed under a Creative Commons Attribution 4.0 License.

Department

Department of Electrical Engineering

Committee Chair

Fernando Rios-Gutierrez

Committee Member 1

Rocio Alba-Flores

Committee Member 2

Frank Goforth

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 be used 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 thesis, we first investigate the various energy loss components in a differential drive robot and based on these findings present a well-defined and a complete energy model. In order to validate our model we tested the robot using a specific velocity profile and measured all the losses.

Download

Share

COinS