Presentation Title

Energy Modeling of Differential Drive Robots

Location

Room 2903

Session Format

Paper Presentation

Research Area Topic:

Engineering and Material Sciences - Electrical

Co-Presenters, Co- Authors, Co-Researchers, Mentors, or Faculty 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

This document is currently not available here.

Share

COinS
 
Apr 24th, 4:00 PM Apr 24th, 5:00 PM

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.