Preferencje help
Widoczny [Schowaj] Abstrakt
Liczba wyników
Tytuł artykułu

Using Diagnostic Information for Planning an Energy-Optimal Path of an Autonomous Vehicle

Treść / Zawartość
Warianty tytułu
Języki publikacji
The article has presented a general idea for an algorithm that would allow for determining the optimal parameters of vehicle movement. The sources of energy dissipation have been assumed as follows: damage to the engine and the drive. In addition, the mathematical basis have been presented for assessing the impact of damage resulting from problems such as axial misalignment on the dissipated energy. In the second part of the paper, the concept of the algorithm has been detailed, paying special attention to certain problems that have arisen, and an algorithm has been proposed that determines the optimal movement parameters for a simplified case, when the vehicle is moving along a path determined in advance. In addition, the results of applying the algorithm for a simple case have been presented, as well as the impact of the particular energy dissipation parameters of the model on the optimal velocity profile of the vehicle. The plans for further research include estimating the impact of other damages, such as damaged bearings or demagnetising, on the energy dissipation. Further work on an algorithm is also planned that would allow for simultaneous determining of an optimal path as well as an optimal velocity profile.
Słowa kluczowe
Opis fizyczny
Bibliogr. 9 poz., rys.
  • Warsaw University of Technology, Poland
  • [1] Liu S., Sun D., Optimal Motion Planning of a Mobile Robot with Minimum Energy Consumption, IEEE/ASME International Conference on Advenced Inteligent Mechatronics, s. 43-48, 2011
  • [2] Weigo W., Huitang C., Peng-Yung W., Optimal Motion Planning for a Wheeled Mobile Robot, Proceedings of the IEEE International Conference on Robotic & Automation, s. 41-46, 1999
  • [3] Weigo W., Huitang C., Peng-Yung W., Time OptimalPath Planning for a Wheeled Mobile Robot, Jurnal of Robotic Systems 17(11), 585-591, 2000
  • [4] Plonski P. A., Tokekar P., Isler V., Energy Efficient Path Planning for Solar-Powered Mobile Robots
  • [5] Kim H., Kim B., Minimum-Energy Translational Trajectory Planning for Battery-Powered Three Wheeled Omni-Directional Mobile Robots, 10th Int. Conf. on Control, Automation, Robotics and Vision, p.1730-1735, 2008,
  • [6] Cameron J., Thomson W.: Vibration and current monitoring for detecting airgap eccentricities in large induction motors, IEEE Proceedings 133(3):155-163,
  • [7] Blodt M., Granjon P., Regnier J.: Mechanical Fault detection in induction motor drives through stator current monitoring - Theory and application examples, Fault Detection (2010), 451-488,
  • [8] LaValle S. M., Planning Algorithm, Cambridge University Press
  • [9] Wilson R. L., Wprowadzenie do teorii grafów,
Typ dokumentu
Identyfikator YADDA
JavaScript jest wyłączony w Twojej przeglądarce internetowej. Włącz go, a następnie odśwież stronę, aby móc w pełni z niej korzystać.