A Step Toward Mobile Robots Autonomy: Energy Estimation Models

Abstract : One of the crucial questions to develop Autonomous Mobile Robotic systems is the energy consumption, its monitoring and management all along the mission. Mission complexity and fault tolerance capabilities require to exploit system redundancies, in terms of algorithms and hardware recruitment. This choice has an evident impact on energy consumption. This paper proposes an identification protocol to establish the energy consumption models for each control configuration of a Pioneer 3DX. These models are destined to be used as online pre-dictors providing an estimation of the necessary remaining energy that mission success 'nominally' requires. At the end, the proposed energy consumption models are validated and discussed experimentally.
Type de document :
Communication dans un congrès
TAROS: Towards Autonomous Robotic Systems, Jun 2016, Sheffield, United Kingdom. 17th Annual Conference Towards Autonomous Robotic Systems, pp.177-188, 2016, 〈10.1007/978-3-319-40379-3_18〉
Liste complète des métadonnées

Littérature citée [11 références]  Voir  Masquer  Télécharger

https://hal-lirmm.ccsd.cnrs.fr/lirmm-01310961
Contributeur : Lotfi Jaiem <>
Soumis le : jeudi 19 mai 2016 - 08:23:08
Dernière modification le : jeudi 14 février 2019 - 01:10:42
Document(s) archivé(s) le : samedi 20 août 2016 - 10:23:10

Fichier

energy_estimation_TAROS.pdf
Fichiers produits par l'(les) auteur(s)

Identifiants

Citation

Lotfi Jaïem, Sébastien Druon, Lionel Lapierre, Didier Crestani. A Step Toward Mobile Robots Autonomy: Energy Estimation Models. TAROS: Towards Autonomous Robotic Systems, Jun 2016, Sheffield, United Kingdom. 17th Annual Conference Towards Autonomous Robotic Systems, pp.177-188, 2016, 〈10.1007/978-3-319-40379-3_18〉. 〈lirmm-01310961〉

Partager

Métriques

Consultations de la notice

361

Téléchargements de fichiers

392