Energy efficient slope traversability planning for mobile robot in loose soil

Go Sakayori, Genya Ishigami

Research output: Chapter in Book/Report/Conference proceedingConference contribution

7 Citations (Scopus)

Abstract

This paper proposes an energy-efficient trajectory planning method for a wheeled robot in slope ascending scenario. This method basically exploits a power consumption model of the robot which is obtained from the following two phases: first, the values of the robot power consumption in different slope angle, robot velocity, and robot heading angle are numerically calculated using a dynamic simulation of the robot taking into account of an accurate wheel-soil interaction mechanics; and subsequently, an approximated model for the robot power consumption is elaborated by neural network. Using the power consumption model an energy-efficient trajectory for a slope traversal case can be generated. Here, a bezier curve is used to provide a smooth trajectory designed with an appropriate arrival time as well as the control points for the curve. The numerical simulation result of the trajectory planning based on the proposed method gives several insights for a feasible trajectory for slope ascending scenario.

Original languageEnglish
Title of host publicationProceedings - 2017 IEEE International Conference on Mechatronics, ICM 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages99-104
Number of pages6
ISBN (Electronic)9781509045389
DOIs
Publication statusPublished - 2017 May 6
Event2017 IEEE International Conference on Mechatronics, ICM 2017 - Gippsland, Australia
Duration: 2017 Feb 132017 Feb 15

Other

Other2017 IEEE International Conference on Mechatronics, ICM 2017
CountryAustralia
CityGippsland
Period17/2/1317/2/15

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Mechanical Engineering
  • Control and Optimization

Fingerprint Dive into the research topics of 'Energy efficient slope traversability planning for mobile robot in loose soil'. Together they form a unique fingerprint.

  • Cite this

    Sakayori, G., & Ishigami, G. (2017). Energy efficient slope traversability planning for mobile robot in loose soil. In Proceedings - 2017 IEEE International Conference on Mechatronics, ICM 2017 (pp. 99-104). [7921087] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICMECH.2017.7921087