Estimating Achievable Range of Ground Robots Operating on Single Battery Discharge for Operational Efficacy Amelioration
Loading...
Access rights
openAccess
acceptedVersion
URL
Journal Title
Journal ISSN
Volume Title
A4 Artikkeli konferenssijulkaisussa
This publication is imported from Aalto University research portal.
View publication in the Research portal (opens in new window)
View/Open full text file from the Research portal (opens in new window)
View publication in the Research portal (opens in new window)
View/Open full text file from the Research portal (opens in new window)
Date
2018
Major/Subject
Mcode
Degree programme
Language
en
Pages
8
Series
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 3991 - 3998
Abstract
Mobile robots are increasingly being used to assist with active pursuit and law enforcement. One major limitation for such missions is the resource (battery) allocated to the robot. Factors like nature and agility of evader, terrain over which pursuit is being carried out, plausible traversal velocity and the amount of necessary data to be collected all influence how long the robot can last in the field and how far it can travel. In this paper, we develop an analytical model that analyzes the energy utilization for a variety of components mounted on a robot to estimate the maximum operational range achievable by the robot operating on a single battery discharge. We categorize the major consumers of energy as: 1.) ancillary robotic functions such as computation, communication, sensing etc., and 2.) maneuvering which involves propulsion, steering etc. Both these consumers draw power from the common power source but the achievable range is largely affected by the proportion of power available for maneuvering. For this case study, we performed experiments with real robots on planar and graded surfaces and evaluated the estimation error for each case.Description
Keywords
Robot sensing systems, Batteries, Mobile robots, Energy consumption, Discharges (electric)
Other note
Citation
Tiwari, K, Xiao, X & Chong, N Y 2018, Estimating Achievable Range of Ground Robots Operating on Single Battery Discharge for Operational Efficacy Amelioration . in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems . Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, IEEE, United States, pp. 3991 - 3998, IEEE/RSJ International Conference on Intelligent Robots and Systems, Madrid, Spain, 01/10/2018 . https://doi.org/10.1109/IROS.2018.8593845