Efficient energy consumption for indoor mobile robot prototype under illumination

Angelina, Seilla; Afifah, Shofuro; Susamti, Paramadina; Priramadhi, Rizki Ardianto; Darlis, Denny

doi:10.1051/matecconf/201819711016

Cited by 7 publications

(9 citation statements)

References 9 publications

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“…Since A T0 = A T , applying a congruence transformation with diag(Y, I) on inequality (46) and Y on inequalities (47) and (48) gives the LMIs (32)- (34).…”

Section: Proof (A)mentioning

confidence: 99%

“…Plus, to ensure the compensator is robust against the uncertainties, the source of variations in the model parameters needs to be identified and made auxiliary to the control scheme. Exact sources of errors or uncertainties are often difficult to determine, but influence from other observable parameters, such as electrical energy consumptions [34,35] or nature of motions [36,37] can assist in achieving the same purpose. An interesting study in [38] shows that the electrical power consumptions in a mobile robot can fluctuate under various operations when the same energy supply is used to power the sensor, motion, and control systems.…”

Section: Introductionmentioning

confidence: 99%

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Robust ℋ∞-Fuzzy Logic Control for Enhanced Tracking Performance of a Wheeled Mobile Robot in the Presence of Uncertain Nonlinear Perturbations

Ahmad

2020

Sensors

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Motion control involving DC motors requires a closed-loop system with a suitable compensator if tracking performance with high precision is desired. In the case where structural model errors of the motors are more dominating than the effects from noise disturbances, accurate system modelling will be a considerable aid in synthesizing the compensator. The focus of this paper is on enhancing the tracking performance of a wheeled mobile robot (WMR), which is driven by two DC motors that are subject to model parametric uncertainties and uncertain deadzones. For the system at hand, the uncertain nonlinear perturbations are greatly induced by the time-varying power supply, followed by behaviour of motion and speed. In this work, the system is firstly modelled, where correlations between the model parameters and different input datasets as well as voltage supply are obtained via polynomial regressions. A robust H ∞ -fuzzy logic approach is then proposed to treat the issues due to the aforementioned perturbations. Via the proposed strategy, the H ∞ controller and the fuzzy logic (FL) compensator work in tandem to ensure the control law is robust against the model uncertainties. The proposed technique was validated via several real-time experiments, which showed that the speed and path tracking performance can be considerably enhanced when compared with the results via the H ∞ controller alone, and the H ∞ with the FL compensator, but without the presence of the robust control law.

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“…Since A T0 = A T , applying a congruence transformation with diag(Y, I) on inequality (46) and Y on inequalities (47) and (48) gives the LMIs (32)- (34).…”

Section: Proof (A)mentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Robust ℋ∞-Fuzzy Logic Control for Enhanced Tracking Performance of a Wheeled Mobile Robot in the Presence of Uncertain Nonlinear Perturbations

Ahmad

2020

Sensors

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“…At this point, many energy-efficient task and motion planning (short path planning, path smoothing, speed profiles, etc.) strategies have been developed [1][2][3]. In both types of studies, the focus is on reducing the motor's running time and the power it consumes during travel in the mobile robot system.…”

Section: Introductionmentioning

confidence: 99%

A Novel, Energy-Efficient Smart Speed Adaptation Based on the Gini Coefficient in Autonomous Mobile Robots

Gürgöze

Türkoğlu

2022

Electronics

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Using energy efficiently is an important parameter in mobile robots. The majority of the energy consumption takes place in the motors. As such, past studies have investigated how to reduce the usage time of motors. Although the relationship between task energy and speed energy is considered in these studies, the qualification of the task, the amount of energy used, and the speed relation have not been taken into account as a whole. Parameters that affect each other in determining the speed profile, such as the criteria by which energy saving is determined, the maximum speed limit, acceleration, the load, and the ground relation, have not been taken into account holistically. Another research focus concerns the need to distribute energy in a balanced manner, in accordance with the qualification of the task, and to ensure the movement occurs at the optimum speed. In this study, a new dynamic (online) intelligent speed and acceleration adaptation method, based on the task structure and energy balance, was developed for a specific path that overcomes the shortcomings of existing models. The Gini coefficient was used for the balanced distribution of energy. Sharp speed changes were prevented with the remaining path and the balanced distribution of the remaining energy. The current model is compared with the trapezoidal speed profile structure.

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“…However, in the absence of recuperation heat losses on braking resistors are many times greater than heat losses in windings. There are known approaches to energy saving for transport robots, when the positive effect is determined by the choice of the motion path [1,3]. Some authors [2] use a modified PSO method to optimize the trajectory of robots in the absence of resistance forces operating in zero gravity.…”

mentioning

confidence: 99%

Investigation of the effect of algorithms of positioning robots on their power and energy consumption

Volkov

Kolesnikova²,

Kornilova³

et al. 2023

E3S Web Conf.

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The paper is devoted to the study of motion algorithms that determine the power and energy consumption of process equipment and positioning robots, which are important factors affecting the environment and environmental safety of the technosphere. Based on the study of mathematical models of the degrees of mobility of the gantry robot drives, it is found that under the traditional laws of motion, a fairly significant peak in power consumption occurs at the end of acceleration. The paper shows that by separating in time the moments of the end of acceleration of different drives, it is possible to significantly reduce the maximum power of the robot. A comprehensive approach to the choice of an algorithm and laws of motion that provide an acceptable combination of energy consumption and maximum power consumption has been developed. The authors have shown that there are such laws of motion that ensure the constancy of power for the duration of the acceleration stage and its minimization. The relationship between the minimum instantaneous power and power consumption for such robots has been established. The results obtained can be used to optimize the operation algorithms of both of existing and newly +-robots.

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Efficient energy consumption for indoor mobile robot prototype under illumination

Cited by 7 publications

References 9 publications

Robust ℋ∞-Fuzzy Logic Control for Enhanced Tracking Performance of a Wheeled Mobile Robot in the Presence of Uncertain Nonlinear Perturbations

Robust ℋ∞-Fuzzy Logic Control for Enhanced Tracking Performance of a Wheeled Mobile Robot in the Presence of Uncertain Nonlinear Perturbations

A Novel, Energy-Efficient Smart Speed Adaptation Based on the Gini Coefficient in Autonomous Mobile Robots

Investigation of the effect of algorithms of positioning robots on their power and energy consumption

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