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Low power management for autonomous mobile robots using optimal control

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2 Author(s)
Wei Zhang ; Purdue Univ., Lafayette ; Jianghai Hu

This paper studies an approach of minimizing the energy consumption of a mobile robot by controlling its traveling speed and its on-board processor's frequency simultaneously. The problem is formulated as a discrete-time optimal control problem with a random terminal time and probabilistic state constraints. A general solution procedure suitable for arbitrary power functions of the motor and the processor is proposed. Furthermore, for a class of practically important power functions, the optimal solution is derived analytically. Simulation result shows that the proposed method can save up to 30% energy compared with some heuristic schemes.

Published in:

Decision and Control, 2007 46th IEEE Conference on

Date of Conference:

12-14 Dec. 2007

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