Energy efficient slope traversability planning for mobile robot in loose soil

Go Sakayori, Genya Ishigami

研究成果: Conference contribution

12 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルProceedings - 2017 IEEE International Conference on Mechatronics, ICM 2017
出版社Institute of Electrical and Electronics Engineers Inc.
ページ99-104
ページ数6
ISBN(電子版)9781509045389
DOI
出版ステータスPublished - 2017 5月 6
イベント2017 IEEE International Conference on Mechatronics, ICM 2017 - Gippsland, Australia
継続期間: 2017 2月 132017 2月 15

出版物シリーズ

名前Proceedings - 2017 IEEE International Conference on Mechatronics, ICM 2017

Other

Other2017 IEEE International Conference on Mechatronics, ICM 2017
国/地域Australia
CityGippsland
Period17/2/1317/2/15

ASJC Scopus subject areas

  • 電子工学および電気工学
  • 機械工学
  • 制御と最適化

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