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.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

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


    Additional title:

    Lect. Notes in Networks, Syst.



    Conference:

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



    Publication date :

    2024-02-08


    Size :

    11 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




    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 | European Patent Office | 2021

    Free access

    Fully omnidirectional wheeled assembly for robotic vehicles

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