TY - GEN
T1 - Energy-optimal velocity profiles for car-like robots
AU - Tokekar, Pratap
AU - Karnad, Nikhil
AU - Isler, Volkan
PY - 2011
Y1 - 2011
N2 - For battery-powered mobile robots to operate for long periods of time, it is critical to optimize their motion so as to minimize energy consumption. The driving motors are a major source of power consumption. In this paper, we study the problem of finding velocity profiles for car-like robots so as to minimize the energy consumed while traveling along a given path. We start with an established model for energy consumption of DC motors. We present closed form solutions for the unconstrained case and for the case where there is a bound on maximum velocity. We also study a general problem where the robot's path is composed of segments (e.g. circular arcs and line segments). We are given a velocity bound for each segment. For this problem, we present a dynamic programming solution which uses the solution for the single-constraint case as a subroutine. In addition, we present a calibration method to find model parameters. Finally, we present results from experiments conducted on a custom-built robot.
AB - For battery-powered mobile robots to operate for long periods of time, it is critical to optimize their motion so as to minimize energy consumption. The driving motors are a major source of power consumption. In this paper, we study the problem of finding velocity profiles for car-like robots so as to minimize the energy consumed while traveling along a given path. We start with an established model for energy consumption of DC motors. We present closed form solutions for the unconstrained case and for the case where there is a bound on maximum velocity. We also study a general problem where the robot's path is composed of segments (e.g. circular arcs and line segments). We are given a velocity bound for each segment. For this problem, we present a dynamic programming solution which uses the solution for the single-constraint case as a subroutine. In addition, we present a calibration method to find model parameters. Finally, we present results from experiments conducted on a custom-built robot.
UR - http://www.scopus.com/inward/record.url?scp=84655170914&partnerID=8YFLogxK
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U2 - 10.1109/ICRA.2011.5980374
DO - 10.1109/ICRA.2011.5980374
M3 - Conference contribution
AN - SCOPUS:84655170914
SN - 9781612843865
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 1457
EP - 1462
BT - 2011 IEEE International Conference on Robotics and Automation, ICRA 2011
T2 - 2011 IEEE International Conference on Robotics and Automation, ICRA 2011
Y2 - 9 May 2011 through 13 May 2011
ER -