Estimating Achievable Range of Ground Robots Operating on Single Battery Discharge for Operational Efficacy Amelioration

Kshitij Tiwari, Xuesu Xiao, Nak Young Chong

Research output: Chapter in Book/Report/Conference proceedingConference contributionScientificpeer-review

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Abstract

Mobile robots are increasingly being used to assist with active pursuit and law enforcement. One major limitation for such missions is the resource (battery) allocated to the robot. Factors like nature and agility of evader, terrain over which pursuit is being carried out, plausible traversal velocity and the amount of necessary data to be collected all influence how long the robot can last in the field and how far it can travel. In this paper, we develop an analytical model that analyzes the energy utilization for a variety of components mounted on a robot to estimate the maximum operational range achievable by the robot operating on a single battery discharge. We categorize the major consumers of energy as: 1.) ancillary robotic functions such as computation, communication, sensing etc., and 2.) maneuvering which involves propulsion, steering etc. Both these consumers draw power from the common power source but the achievable range is largely affected by the proportion of power available for maneuvering. For this case study, we performed experiments with real robots on planar and graded surfaces and evaluated the estimation error for each case.
Original languageEnglish
Title of host publicationProceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems
Place of PublicationUnited States
PublisherIEEE
Pages3991 - 3998
Number of pages8
ISBN (Electronic)978-1-5386-8094-0
ISBN (Print)978-1-5386-8095-7
DOIs
Publication statusPublished - 2018
MoE publication typeA4 Article in a conference publication
EventIEEE/RSJ International Conference on Intelligent Robots and Systems - Madrid Municipal Conference Centre (MMCC), Madrid, Spain
Duration: 1 Oct 20185 Oct 2018
https://www.iros2018.org/

Publication series

NameProceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

ConferenceIEEE/RSJ International Conference on Intelligent Robots and Systems
Abbreviated titleIROS
CountrySpain
CityMadrid
Period01/10/201805/10/2018
Internet address

Keywords

  • Robot sensing systems
  • Batteries
  • Mobile robots
  • Energy consumption
  • Discharges (electric)

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