Energy-efficient motion planning for mobile robots

被引：0
|
作者：
Mei, YG [1 ]
Lu, YH [1 ]
Hu, YC [1 ]
Lee, CSG [1 ]
机构：
[1] Purdue Univ, Sch Elect & Comp Engn, W Lafayette, IN 47907 USA
来源：
2004 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1- 5, PROCEEDINGS | 2004年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presents a new approach to find energy-efficient motion plans for mobile robots. Motion planning has two goals: finding the routes and determining the velocities. We model the relationship of motors' speed and their power consumption with polynomials. The velocity of the robot is related to its wheels' velocities by performing a linear transformation. We compare the energy consumption of different routes at different velocities and consider the energy consumed for acceleration and turns. We use experiment-validated simulation to demonstrate up to 51% energy savings for searching an open area.
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页码：4344 / 4349
页数：6
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