/Energy Considerations for Wheeled Mobile Robots Operating on a Single Battery Discharge

Energy Considerations for Wheeled Mobile Robots Operating on a Single Battery Discharge

Xuesu Xiao and William (Red) L. Whittaker
Tech. Report, CMU-RI-TR-14-16, Robotics Institute, Carnegie Mellon University, August, 2014

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Abstract

This paper presents an energetic model that analyzes energy utilization in mobile robot traverse and estimates maximum range achievable by wheeled mobile robots operating on a single battery discharge. After taking into account different energy uti- lizations, such as propulsion and steering, the model indicates that the most energy- consuming part of mobile robot is robotics functions, such as computing, sensing, communication, etc. Based on this it points out ways to improve maximum robot traverse range: increasing rover velocity, driving duty cycle (ratio of driving time to total mission time), and decreasing robotics functions’ power. Considering the signifi- cant energy proportion of robotics functions, the leftover propulsive consumptions are analyzed, which directly determine the maximum range using a classic terramechanics model. The proportions of energy expended in internal robot system and external inter- action with terrain are quantified with experiments using a small-sized 4-wheel robot. The maximum traverse range of wheeled-mobile robots could be significant, for exam- ple 17km with only 1.12kg battery (166 watts-hour), if the normally immense robotics consumptions are minimized or isolated from the propulsive branch. The resulting propulsion energy, which is only a small fraction of total battery energy expended, is used to estimate achievable range for wheeled mobile robots operating only on a single discharge.

BibTeX Reference
@techreport{Xiao-2014-7914,
author = {Xuesu Xiao and William (Red) L. Whittaker},
title = {Energy Considerations for Wheeled Mobile Robots Operating on a Single Battery Discharge},
year = {2014},
month = {August},
institution = {Carnegie Mellon University},
address = {Pittsburgh, PA},
number = {CMU-RI-TR-14-16},
}
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