Energy Consumption of Control Schemes for the Pioneer 3DX Mobile Robot: Models and Evaluation - LIRMM - Laboratoire d’Informatique, de Robotique et de Microélectronique de Montpellier Access content directly
Journal Articles Journal of Intelligent and Robotic Systems Year : 2021

Energy Consumption of Control Schemes for the Pioneer 3DX Mobile Robot: Models and Evaluation

Abstract

Energy is a key feature that must be explicitly managed for long-term autonomous robotic missions. Many research studies have addressed the energy issue, developed energy-aware motion control or integrated energy in mission objectives. However, few studies have comprehensively assessed the impact of software and hardware choices on power consumption of robots. Based on experimental analysis and according to the selected control scheme and hardware configuration, this paper proposes energy consumption models for the Pioneer 3DX. The proposed models highlight the existence of an optimal velocity that minimizes motion energy. These models are experimentally evaluated and discussed.
Fichier principal
Vignette du fichier
Proof_Article_Energie.pdf (1.42 Mo) Télécharger le fichier
Origin : Files produced by the author(s)

Dates and versions

lirmm-04073356 , version 1 (27-04-2023)

Identifiers

Cite

Lotfi Jaïem, Didier Crestani, Lionel Lapierre, Sébastien Druon. Energy Consumption of Control Schemes for the Pioneer 3DX Mobile Robot: Models and Evaluation. Journal of Intelligent and Robotic Systems, 2021, 102 (1), pp.23. ⟨10.1007/s10846-021-01374-6⟩. ⟨lirmm-04073356⟩
33 View
38 Download

Altmetric

Share

Gmail Facebook X LinkedIn More