As robots have limited power sources. Energy optimization is essential to ensure an extension for their operating periods without needing to be recharged, thus maximizing their uptime and minimizing their running costs. This paper compares the energy consumption of different mobile robotic platforms, including differential, omnidirectional 3-wheel, omnidirectional 4-wheel, and Mecanum platforms. The comparison is based on the RobotAtFactory 4.0 competition that typically takes place during the Portuguese Robotics Open. The energy consumption from the batteries for each platform is recorded and compared. The experiments were conducted in a validated simulation environment with dynamic and friction models to ensure that the platforms operated at similar speeds and accelerations and through a 5200 mAh battery simulation. Overall, this study provides valuable information on the energy consumption of different mobile robotic platforms. Among other findings, differential robots are the most energy-efficient robots, while 4-wheel omnidirectional robots may offer a good balance between energy efficiency and maneuverability.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Energy Efficiency Analysis of Differential and Omnidirectional Robotic Platforms: A Comparative Study


    Weitere Titelangaben:

    Lect. Notes in Networks, Syst.


    Beteiligte:

    Kongress:

    Climbing and Walking Robots Conference ; 2023 ; Florianópolis, Brazil October 02, 2023 - October 04, 2023



    Erscheinungsdatum :

    2024-02-08


    Format / Umfang :

    11 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    Robotic Platforms

    Aleo, I. / Arena, P. / De Fiore, S. et al. | Springer Verlag | 2013



    Robotic Ankle for Omnidirectional Rock Anchors

    Parness, Aaron / Frost, Matthew / Thatte, Nitish | NTRS | 2013


    Omnidirectional differential wheel structure

    JI CAILING / DING BOBING / CAO JUNSEN | Europäisches Patentamt | 2021

    Freier Zugriff

    Fully omnidirectional wheeled assembly for robotic vehicles

    S. M. Killough / F. G. Pin | NTIS | 1990