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
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
收藏
页码:1098 / 1108
页数:11
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