Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
권호 표지
DOI QR코드

DOI QR Code

A 3-Step Speed Control for Minimizing Energy Consumption for Battery-Powered Wheeled Mobile Robots

배터리로 구동되는 이동 로봇의 에너지 소모 최소화를 위한 3-구간 속도 제어

  • 김병국 (한국과학기술원 전자전산학과) ;
  • 김종희 (한국과학기술원 전자전산학과)
  • Published : 2006.03.01
Download PDF
⟨ Previous Next ⟩

Abstract

Energy of wheeled mobile robot is usually supplied by batteries. In order to extend operation time of mobile robots, it is necessary to minimize the energy consumption. The energy is dissipated mostly in the motors, which strongly depends on the velocity profile. This paper investigates various 3-step (acceleration - cruise - deceleration) speed control methods to minimize a new energy object function which considers the practical energy consumption dissipated in motors related to motor control input, velocity profile, and motor dynamics. We performed an analysis on the energy consumption various velocity profile patterns generated by standard control input such as step input, ramp input, parabolic input, and exponential input. Based on these standard control inputs, we analyzed the six 3-step velocity profile patterns: E-C-E, P-C-P, R-C-R, S-C-S, R-C-S, and S-C-R (S means a step control input, R means a ramp control input, P means a parabolic control input, and E means an exponential control input, C means a constant cruise velocity), and suggested an efficient iterative search algorithm with binary search which can find the numerical solution quickly. We performed various computer simulations to show the performance of the energy-optimal 3-step speed control in comparison with a conventional 3-step speed control with a reasonable constant acceleration as a benchmark. Simulation results show that the E-C-E is the most energy efficient 3-step velocity profile pattern, which enables wheeled mobile robot to extend working time up to 50%.

Keywords

References

  1. M. Andrzej and Trzynadlowski, 'Energy optimization of a certain class of incremental motion DC drives,' IEEE Transactions on Industrial Electronics, vol. 35, no. 1, pp.60-66, Feb., 1988 https://doi.org/10.1109/41.3063
  2. J. Y. Kim, H. J. Yean, F. C. Park, Y. I. Park, and M. S. Kim, 'On the energy efficiency of CVT-based mobile robots,' Proceedings of the 2000 IEEE International Conference on Robotics & Automation, San Francisco, pp. 1539-1544, April, 2000 https://doi.org/10.1109/ROBOT.2000.844815
  3. P. Famouri, 'Design of DC traction motor drives for high efficiency under accelerating conditions,' IEEE Transactions on Industry Applications, vol. 30, no. 4, pp. 1134-1138, August, 1994 https://doi.org/10.1109/28.297932
  4. A. Barili, M. Ceresa, and C. Parisi, 'Energy-saving motion control for an autonomous mobile robot,' Proceedings of the IEEE International Sysmposium on Industrial Electronics, vol. 2, pp. 674-676, July, 1995 https://doi.org/10.1109/ISIE.1995.497266
  5. I. Duleba and J. Z. Sasiadek, 'Nonholonomic motion planning based on newton algorithm with energy optimization,' IEEE Transactions on Control Systems Technology, vol. 11, no. 3, pp. 355-363, May, 2003 https://doi.org/10.1109/TCST.2003.810394
  6. Y. G. Mei, Y.-H. Lu, Y. Charlie Hu, and C. S. George Lee, 'Energy-efficient motion planning for mobile robots,' International Conference on Robotics and Automation, vol. 5, pp. 4344-4349, April, 2004 https://doi.org/10.1109/ROBOT.2004.1302401
  7. D. McMordie, C. Prahacs, and M. Buehler, 'Torwards a dynamic actuator model for a hexapod robot,' IEEE International Conference on Robotics and Automation, vol. 1, pp. 1386-1390, September, 2003 https://doi.org/10.1109/ROBOT.2003.1241785
  8. X. Yun and Y. Yamamoto, 'Internal dynamics of a wheeled mobile robot,' Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems, vol. 2, pp. 1288-1294, July, 1993 https://doi.org/10.1109/IROS.1993.583753
  9. H. Gruschinski, Control Systems Analysis Using MATLAB, Laboratory of Intelligent Robotics and Automation, National Technical University of Athens, 2003