Modeling of a Lithium-Ion Battery for Enhanced Power Management in Robotics Domain

The aspect of energy constraint and simulation of battery behavior in robotic simulators has been partially neglected by most of the available simulation software and is offered unlimited energy instead. This lack does not reflect the importance of batteries in robots, as the battery is one of the most crucial elements. With the implementation of an adequate battery simulation, it is possible to perform a study on the energy requirements of the robot through these simulators. Thus, this paper describes a Lithium-ion battery model implemented on SimTwo robotic simulator software, in which various physical parameters such as internal resistance and capacity are modeled to mimic real-world battery behavior. The experiments and comparisons with a real robot have assessed the viability of this model. This battery simulation is intended as an additional tool for the roboticists, scientific community, researchers, and engineers to implement energy constraints in the early stages of robot design, architecture, or control.