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Energies
Volume 14
Issue 20
10.3390/en14206722
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Article

Comparison of Energy Prediction Algorithms for Differential and Skid-Steer Drive Mobile Robots on Different Ground Surfaces

by
Krystian Góra
*,
Mateusz Kujawinski
,
Damian Wroński
and
Grzegorz Granosik
*
Institute of Automatic Control, Lodz University of Technology, 90-537 Lodz, Poland
*
Authors to whom correspondence should be addressed.
Energies 2021, 14(20), 6722; https://doi.org/10.3390/en14206722
Submission received: 30 August 2021 / Revised: 12 October 2021 / Accepted: 13 October 2021 / Published: 15 October 2021
(This article belongs to the Special Issue Modeling, Simulation and Control of Electric Drive Systems)
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Abstract

A detailed literature analysis depicts that artificial neural networks are rarely used for the power consumption estimation in the mobile robotics field. Instead, researchers prefer to develop analytical models of investigated robots. This manuscript presents a comparison of mathematical models and non-complex artificial neural networks in energy prediction tasks for differential and skid-steer drive robots which move over various types of surfaces. The results show that both methods could be used interchangeably but AI methods are more universal, do not depend on the kinematic structure of a robot and are tolerant for designers not having a complex knowledge about the system.
Keywords: differential drive mobile robot; skid-steer drive mobile robot; energy prediction algorithms; artificial neural networks differential drive mobile robot; skid-steer drive mobile robot; energy prediction algorithms; artificial neural networks

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MDPI and ACS Style

Góra, K.; Kujawinski, M.; Wroński, D.; Granosik, G. Comparison of Energy Prediction Algorithms for Differential and Skid-Steer Drive Mobile Robots on Different Ground Surfaces. Energies 2021, 14, 6722. https://doi.org/10.3390/en14206722

AMA Style

Góra K, Kujawinski M, Wroński D, Granosik G. Comparison of Energy Prediction Algorithms for Differential and Skid-Steer Drive Mobile Robots on Different Ground Surfaces. Energies. 2021; 14(20):6722. https://doi.org/10.3390/en14206722

Chicago/Turabian Style

Góra, Krystian, Mateusz Kujawinski, Damian Wroński, and Grzegorz Granosik. 2021. "Comparison of Energy Prediction Algorithms for Differential and Skid-Steer Drive Mobile Robots on Different Ground Surfaces" Energies 14, no. 20: 6722. https://doi.org/10.3390/en14206722

APA Style

Góra, K., Kujawinski, M., Wroński, D., & Granosik, G. (2021). Comparison of Energy Prediction Algorithms for Differential and Skid-Steer Drive Mobile Robots on Different Ground Surfaces. Energies, 14(20), 6722. https://doi.org/10.3390/en14206722

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