Energy Modeling of Differential Drive Robots

<p>Improving the energy efficiency of robots and increasing the time of operation has been a very hot research topic in recent times. There has been a lot of work on optimizing energy consumption especially in mobile robots. Researchers have been focused on designing motion planning techniques along with velocity control to reduce the energy consumption. But there has been a lack of a well-defined and a complete energy model that can be used as a cost function for all the optimization algorithms. Having such a model not only provides a platform for energy loss control but also provides an idea about the nature of the losses and the cause for their occurrence. In this thesis, we first investigate the various energy loss components in a differential drive robot and based on these findings present a well-defined and a complete energy model. In order to validate our model we tested the robot using a specific velocity profile and measured all the losses.</p>

Name thesis:degree_name

Master of Science in Applied Engineering (M.S.A.E.)

Level thesis:degree_level

Thesis (restricted to Georgia Southern)

Discipline thesis:degree_discipline

Department of Electrical Engineering

Year dc:date.available

2015

Author dc:creator

• Wahab, Mudasser

Contributors dc:contributor

• Rocio Alba-Flores
• Frank Goforth

• Energy modeling
• Energy cost function
• Differential drive robots
• Armature resistance
• Locked rotor test
• Gearheads
• Rolling friction
• Controls and Control Theory
• Energy Systems
• Power and Energy

Repository record dc:identifier

https://digitalcommons.georgiasouthern.edu/etd/1242

OAI identifier oai:identifier

oai:digitalcommons.georgiasouthern.edu:etd-2342