A unified framework for operational range estimation of mobile robots operating on a single discharge to avoid complete immobilization

 |  Login

Show simple item record

dc.contributor Aalto-yliopisto fi
dc.contributor Aalto University en
dc.contributor.author Tiwari, Kshitij
dc.contributor.author Xiao, Xuesu
dc.contributor.author Malik, Ashish
dc.contributor.author Chong, Nak Young
dc.date.accessioned 2019-02-25T08:47:47Z
dc.date.available 2019-02-25T08:47:47Z
dc.date.issued 2018-12-29
dc.identifier.citation Tiwari , K , Xiao , X , Malik , A & Chong , N Y 2018 , ' A unified framework for operational range estimation of mobile robots operating on a single discharge to avoid complete immobilization ' , Mechatronics: the science of intelligent machines , vol. 57 , pp. 173-187 . https://doi.org/10.1016/j.mechatronics.2018.12.006 en
dc.identifier.issn 0957-4158
dc.identifier.issn 1873-4006
dc.identifier.other PURE UUID: 70ba82f6-487b-45f4-a2a2-5abbcabcb096
dc.identifier.other PURE ITEMURL: https://research.aalto.fi/en/publications/a-unified-framework-for-operational-range-estimation-of-mobile-robots-operating-on-a-single-discharge-to-avoid-complete-immobilization(70ba82f6-487b-45f4-a2a2-5abbcabcb096).html
dc.identifier.uri https://aaltodoc.aalto.fi/handle/123456789/36781
dc.description.abstract Mobile robots are being increasingly deployed in fields where human intervention is deemed risky. However, in doing so, one of the prime concern is to prevent complete battery depletion which may in turn lead to immobilization of the robot during the mission. Thus, we need to carefully manage the energy available to explore as much of the unknown environment as feasible whilst guaranteeing a safe return journey to home base. For this, we need to identify the key components that draw energy and quantify their individual energy requirements. However, this problem is difficult due to the fact that most of the robots have different motion models, and the energy consumption usually also varies from mission to mission. It is desirable to have a generic framework that takes into account different locomotion models and possible mission profiles. This paper presents a methodology to unify the energy consumption models for various robotic platforms thereby allowing us to estimate operational range in both offline and online fashions. The existing models consider a given mission profile and try to estimate its energy requirements whilst our model considers the energy as a given resource constraint and tries to optimize the mission to be accomplished within these constraints. The proposed unified energy consumption framework is verified by field experiments for micro UGV and multi-rotor UAV test-beds operating under myriad of environmental conditions. The online model estimates operational range with an average accuracy (measured with respect to true range across multiple field trials) of 93.87% while the offline model attains 82.97%. en
dc.format.extent 15
dc.format.extent 173-187
dc.language.iso en en
dc.publisher PERGAMON PRESS
dc.relation.ispartofseries Mechatronics: the science of intelligent machines en
dc.relation.ispartofseries Volume 57 en
dc.rights embargoedAccess en
dc.subject.other 213 Electronic, automation and communications engineering, electronics en
dc.title A unified framework for operational range estimation of mobile robots operating on a single discharge to avoid complete immobilization en
dc.type A1 Alkuperäisartikkeli tieteellisessä aikakauslehdessä fi
dc.description.version Peer reviewed en
dc.contributor.department Department of Electrical Engineering and Automation
dc.contributor.department Texas A and M University
dc.contributor.department PEC University of Technology
dc.contributor.department Japan Advanced Institute of Science and Technology
dc.subject.keyword 213 Electronic, automation and communications engineering, electronics
dc.identifier.urn URN:NBN:fi:aalto-201902251938
dc.identifier.doi 10.1016/j.mechatronics.2018.12.006
dc.date.embargo info:eu-repo/date/embargoEnd/2020-12-29


Files in this item

Files Size Format View

There are no open access files associated with this item.

This item appears in the following Collection(s)

Show simple item record

Search archive


Advanced Search

article-iconSubmit a publication

Browse