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Energy-efficient motion planning for mobile robots

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4 Author(s)
Yongguo Mei ; Sch. of Electr. & Comput. Eng., Purdue Univ., West Lafayette, IN, USA ; Yung-Hsiang Lu ; Y. C. Hu ; C. S. G. Lee

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.

Published in:

Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on  (Volume:5 )

Date of Conference:

26 April-1 May 2004