Energy-Optimal Velocity Profiles for Car-Like Robots
For battery-powered mobile robots to operate for long periods of time, it is critical to optimize their motion so as to minimize energy consumption. The driving motors are a major source of power consumption. In this paper, we study the problem of finding velocity profiles for car-like robots so as to minimize the energy consumed while traveling along a given path. We start with an established model for energy consumption of DC motors. We present closed form solutions for the unconstrained case and for the case where there is a bound on maximum velocity. We also study a general problem where the robot’s path is composed of segments (e.g. circular arcs and line segments). We are given a velocity bound for each segment. For this problem, we present a dynamic programming solution which uses the solution for the single-constraint case as a subroutine. In addition, we present a calibration method to find model parameters. Finally, we present results from experiments conducted on a custom-built robot.
Pratap Tokekar Nikhil Karnad Volkan Isler
Department of Computer Science and Engineering,University of Minnesota,200 Union Street SE,Minneapolis MN 55414 USA
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
1457-1462
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）