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Please use this identifier to cite or link to this item: http://hdl.handle.net/10119/16105

Title: Estimating Achievable Range of Ground Robots Operating on Single Battery Discharge for Operational Efficacy Amelioration
Authors: Tiwari, Kshitij
Xiao, Xuesu
Chong, Nak Young
Keywords: Mobile robot
operational range estimation
energy consumption model
ancillary power
Issue Date: 2018-10-01
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Magazine name: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Start page: 3991
End page: 3998
DOI: 10.1109/IROS.2018.8593845
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.
Rights: This is the author's version of the work. Copyright (C) 2018 IEEE. 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018, pp.3991-3998, DOI:10.1109/IROS.2018.8593845. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
URI: http://hdl.handle.net/10119/16105
Material Type: author
Appears in Collections:b11-1. 会議発表論文・発表資料 (Conference Papers)

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