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Comparison of Energy Prediction Algorithms for Differential and Skid-Steer Drive Mobile Robots on Different Ground Surfaces

Author

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  • Krystian Góra

    (Institute of Automatic Control, Lodz University of Technology, 90-537 Lodz, Poland)

  • Mateusz Kujawinski

    (Institute of Automatic Control, Lodz University of Technology, 90-537 Lodz, Poland)

  • Damian Wroński

    (Institute of Automatic Control, Lodz University of Technology, 90-537 Lodz, Poland)

  • Grzegorz Granosik

    (Institute of Automatic Control, Lodz University of Technology, 90-537 Lodz, Poland)

Abstract

A detailed literature analysis depicts that artificial neural networks are rarely used for the power consumption estimation in the mobile robotics field. Instead, researchers prefer to develop analytical models of investigated robots. This manuscript presents a comparison of mathematical models and non-complex artificial neural networks in energy prediction tasks for differential and skid-steer drive robots which move over various types of surfaces. The results show that both methods could be used interchangeably but AI methods are more universal, do not depend on the kinematic structure of a robot and are tolerant for designers not having a complex knowledge about the system.

Suggested Citation

  • 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.
    • Handle: RePEc:gam:jeners:v:14:y:2021:i:20:p:6722-:d:657653
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    References listed on IDEAS

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    1. Linfei Hou & Liang Zhang & Jongwon Kim, 2018. "Energy Modeling and Power Measurement for Mobile Robots," Energies, MDPI, vol. 12(1), pages 1-15, December.
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    Cited by:

    1. Adam Rapalski & Sebastian Dudzik, 2023. "Energy Consumption Analysis of the Selected Navigation Algorithms for Wheeled Mobile Robots," Energies, MDPI, vol. 16(3), pages 1-37, February.

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