Model–based energy efficient global path planning for a four–wheeled mobile robot

• Autorzy: Jaroszek P. , Trojnacki M.
• Języki publikacji: EN

Abstrakty

EN

This paper concerns an energy efficient global path planning algorithm for a four-wheeled mobile robot (4WMR). First, the appropriate graph search methods for robot path planning are described. The A* heuristic algorithm is chosen to find an optimal path on a 2D tile-decomposed map. Various criteria of optimization in path planning, like mobility, distance, or energy are reviewed. The adequate terrain representation is introduced. Each cell in the map includes information about ground height and type. Tire-ground interface for every terrain type is characterized by coefficients of friction and rolling resistance. The goal of the elaborated algorithm is to find an energy minimizing route for the given environment, based on the robot dynamics, its motor characteristics, and power supply constraints. The cost is introduced as a function of electrical energy consumption of each motor and other robot devices. A simulation study was performed in order to investigate the power consumption level for diverse terrain. Two 1600 m2 test maps, representing field and urban environments, were decomposed into 20x20 equal-sized square-shaped elements. Several simulation experiments have been carried out to highlight the differences between energy consumption of the classic shortest path approach, where cost function is represented as the path length, and the energy efficient planning method, where cost is related to electrical energy consumed during robot motion.

Słowa kluczowe

EN

four-wheeled mobile robot; global path planning; robot dynamics model; heuristic algorithm; energy efficiency

• Wydawca: Systems Research Institute, Polish Academy of Sciences
• Czasopismo: Control and Cybernetics
• Rocznik: 2014
• Tom: Vol. 43, no. 2
• Strony: 337--363
• Opis fizyczny: Bibliogr. 26 poz.

Twórcy

autor

Jaroszek P.

• Industrial Research Institute for Automation and Measurements PIAP, Al. Jerozolimskie 202, 02-486 Warsaw, Poland

autor

Trojnacki M.

• Industrial Research Institute for Automation and Measurements PIAP, Al. Jerozolimskie 202, 02-486 Warsaw, Poland

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