By Topic

Power Consumption Modeling of Skid-Steer Tracked Mobile Robots on Rigid Terrain

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

5 Author(s)
Jesus Morales ; Escuela Tec. Super. de Ing. Ind., Univ. de Malaga, Malaga, Spain ; Jorge L. Martinez ; Anthony Mandow ; Alfonso J. Garcia-Cerezo
more authors

Power consumption is a key element in outdoor mobile robot autonomy. This issue is very relevant in skid-steer tracked vehicles on account of their large ground contact area. In this paper, the power losses due to dynamic friction have been modeled from two different perspectives: 1) the power drawn by the rigid terrain and 2) the power supplied by the motors. Comparison of both approaches has provided new insight on skid steering on hard flat terrains at walking speeds. Experimental power models, which also include traction resistance and other power losses, have been obtained for two different track widths over marble flooring and asphalt with Auriga- beta, which is a full-size mobile robot. To this end, various internal probes have been set at different points of the power stream. Furthermore, new energy implications for navigation of these kinds of vehicles have been deduced and tested.

Published in:

IEEE Transactions on Robotics  (Volume:25 ,  Issue: 5 )