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

被引：64

作者：

Morales, Jesus ^{[1
]}

Martinez, Jorge L. ^{[1
]}

Mandow, Anthony ^{[1
]}

Garcia-Cerezo, Alfonso J. ^{[1
]}

Pedraza, Salvador ^{[2
]}

机构：

[1] Univ Malaga, Escuela Tecn Super Ingenieros Ind, E-29071 Malaga, Spain

[2] Optimi Corp, Inst Univ, Malaga 29590, Spain

来源：

IEEE TRANSACTIONS ON ROBOTICS | 2009年 / 25卷 / 05期

关键词：

Friction; mobile robots; motion control; power consumption; skid-steer; tracked vehicles;

D O I：

10.1109/TRO.2009.2026499

中图分类号：

TP24 [机器人技术];

学科分类号：

140102 [集成电路设计与设计自动化];

摘要：

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.

引用

页码：1098 / 1108

页数：11

共 26 条

[1]

Ancenay S, 2004, LECT NOTES ARTIF INT, V3339, P1181

[2]

[Anonymous], ACM COMPUTING SURVEY

[3]

Barili A, 1995, ISIE '95 - PROCEEDINGS OF THE IEEE INTERNATIONAL SYMPOSIUM ON INDUSTRIAL ELECTRONICS, VOLS 1 AND 2, P674, DOI 10.1109/ISIE.1995.497266

[4]

Brateman J, 2006, IFIP VLSI-SOC 2006: IFIP WG 10.5 INTERNATIONAL CONFERENCE ON VERY LARGE SCALE INTEGRATION & SYSTEM-ON-CHIP, P361

[5]

Nonholonomic motion planning based on Newton algorithm with energy optimization [J].