Power Characterization of a Skid-Steered Mobile Field Robot

被引：10

作者：

Dogru, Sedat ^{[1
]}

Marques, Lino ^{[1
]}

机构：

[1] Univ Coimbra, Inst Syst & Robot, Dept Elect & Comp Engn, P-3030290 Coimbra, Portugal

来源：

2016 IEEE INTERNATIONAL CONFERENCE ON AUTONOMOUS ROBOT SYSTEMS AND COMPETITIONS (ICARSC 2016) | 2016年

关键词：

Skid-steer; friction estimation; power characterization; terrain; UGV;

D O I：

10.1109/ICARSC.2016.57

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper we study the power characterization of a skid-steered mobile robot operating both indoors and outdoors, taking the 3D elevation of the environment also into account. We show that the power equation of a driving DC motor together with the force model on an arbitrary terrain can be used to estimate the power consumption as well as the effective friction coefficients of a skid steered vehicle. We present a mathematical model that estimates friction due to skid as a function of slip angles, and the radius of curvature. We present experimental measurements and their statistical summaries regarding the power consumption of a skid steered robot operating at different radius of curvatures, which can be used for rough motion planning, as well as experimental results showing the fitness for our model.

引用

页码：15 / 20

页数：6

共 13 条

[1] Characterizing Energy Usage of a Commercially Available Ground Robot: Method and Results [J].