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Open AccessArticle

Energy Modeling and Power Measurement for Three-Wheeled Omnidirectional Mobile Robots for Path Planning

1
School of Mechanical, Electrical and Information Engineering, Shandong University, Weihai 264209, China
2
Department of Electromechanical Convergence Engineering, Korea University of Technology and Education, Cheonan 31253, Korea
*
Author to whom correspondence should be addressed.
Electronics 2019, 8(8), 843; https://doi.org/10.3390/electronics8080843
Received: 29 June 2019 / Revised: 25 July 2019 / Accepted: 26 July 2019 / Published: 28 July 2019
(This article belongs to the Special Issue Renewable Energy Systems for Mobile Robots)
Due to their high mobility, mobile robots (MR) are widely used in intelligent manufacturing. Due to the perfect symmetry of the MR of the three-wheeled moving chassis, it can move quickly in a crowded and complex factory environment. Because it is powered by a lithium battery, in order to improve its energy efficiency, we need to ensure that its power consumption is reduced as much as possible in order to avoid frequent battery replacement. The power consumption of MRs has also become an important research focus for researchers. Therefore, a power consumption modeling of the omnidirectional mobility of the three-wheeled omnidirectional mobile robot (TOMR) is proposed in this paper. When TOMR advances heading at different angles, the speed of each wheel changes dramatically. So, the power consumption of robots will also be greatly changed. In this paper, the energy and power consumption of the robot heading in different directions is analyzed and modeled by formulas. This research can be valuable for path planning and control design. View Full-Text
Keywords: minimum-energy control; energy modeling; power measurement; omnidirectional mobile robots minimum-energy control; energy modeling; power measurement; omnidirectional mobile robots
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MDPI and ACS Style

Hou, L.; Zhang, L.; Kim, J. Energy Modeling and Power Measurement for Three-Wheeled Omnidirectional Mobile Robots for Path Planning. Electronics 2019, 8, 843.

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