Measurement of power and energy consumption of a competition-mobile-robot

Abstract

Abstract. Power and energy consumption are the two most important factors for successful operation; they also play important roles in performance identification.The measurement of power and energy consumption is a common test in the development process of a competition mobile robot. If the power of a competition mobile robot is not sufficient, the running time in the competition will be too long and winning the competition will not be possible. Thus, the power and energy consumption are basic and important measurement parameters for a competition mobile robot. In this paper, five types of hand-made competition mobile robots are successfully developed and their performances are measured. From the measurements, their powers and energy consumptions are evaluated and analyzed, respectively. The test results show large differences in the powers and energy consumptions of the five models, even though the same motors were used. The design and construction of the competition mobile robot are the key parameters that cause these huge differences. It is possible to develop the measurement techniques for power and energy consumption, quickly and precisely, to determine how to modify a competition mobile robot rapidly and efficiently to a condition optimal for a mobile robot competition.

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

“…Hence, the LMI (31). If Y > 0, then A T is Hurwitz which implies the existence of an internally stabilizing controller, C = C r , as in Equations (35)- (37). In order to ensure the resulting closed-loop poles are within the region bounded by −p L , −p R and φ s in the complex s-plane, let the state space of the closed-loop transfer function be represented by (A T0 , B T0 , C T0 , D T0 ).…”

“…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.…”