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Energy Modeling and Power Measurement for Mobile Robots

Author

Listed:
  • Linfei Hou

    (School of Mechanical, Electrical and Information Engineering, Shandong University (Weihai), Weihai 264209, China)

  • Liang Zhang

    (School of Mechanical, Electrical and Information Engineering, Shandong University (Weihai), Weihai 264209, China)

  • Jongwon Kim

    (Department of Electromechanical Convergence Engineering, Korea University of Technology and Education, Cheonan 31253, Korea)

Abstract

To improve the energy efficiency of a mobile robot, a novel energy modeling method for mobile robots is proposed in this paper. The robot can calculate and predict energy consumption through the energy model, which provides a guide to facilitate energy-efficient strategies. The energy consumption of the mobile robot is first modeled by considering three major factors: the sensor system, control system, and motion system. The relationship between the three systems is elaborated by formulas. Then, the model is utilized and experimentally tested in a four-wheeled Mecanum mobile robot. Furthermore, the power measurement methods are discussed. The energy consumption of the sensor system and control system was at the milliwatt level, and a Monsoon power monitor was used to accurately measure the electrical power of the systems. The experimental results showed that the proposed energy model can be used to predict the energy consumption of the robot movement processes in addition to being able to efficiently support the analysis of the energy consumption characteristics of mobile robots.

Suggested Citation

  • Linfei Hou & Liang Zhang & Jongwon Kim, 2018. "Energy Modeling and Power Measurement for Mobile Robots," Energies, MDPI, vol. 12(1), pages 1-15, December.
    • Handle: RePEc:gam:jeners:v:12:y:2018:i:1:p:27-:d:192619
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    References listed on IDEAS

    as
    1. Saidur, R., 2010. "A review on electrical motors energy use and energy savings," Renewable and Sustainable Energy Reviews, Elsevier, vol. 14(3), pages 877-898, April.
    2. Marojahan Tampubolon & Laskar Pamungkas & Huang-Jen Chiu & Yu-Chen Liu & Yao-Ching Hsieh, 2018. "Dynamic Wireless Power Transfer for Logistic Robots," Energies, MDPI, vol. 11(3), pages 1-13, February.
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    Cited by:

    1. Wenji Jia & Guilin Yang & Chongchong Wang & Chi Zhang & Chinyin Chen & Zaojun Fang, 2019. "Energy-Efficient Torque Distribution Optimization for an Omnidirectional Mobile Robot with Powered Caster Wheels," Energies, MDPI, vol. 12(23), pages 1-19, November.
    2. Krystian Góra & Mateusz Kujawinski & Damian Wroński & Grzegorz Granosik, 2021. "Comparison of Energy Prediction Algorithms for Differential and Skid-Steer Drive Mobile Robots on Different Ground Surfaces," Energies, MDPI, vol. 14(20), pages 1-16, October.
    3. Reda, Francesco & Fatima, Zarrin, 2019. "Northern European nearly zero energy building concepts for apartment buildings using integrated solar technologies and dynamic occupancy profile: Focus on Finland and other Northern European countries," Applied Energy, Elsevier, vol. 237(C), pages 598-617.

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