Energy-Aware Path Planning for Skid-Steer Robots Operating on Hilly Terrain

Research output: Chapter in Book/Report/Conference proceedingConference contribution

12 Scopus citations


This paper presents an optimized approach to planning energy-aware paths for skid-steer vehicles during elevation changes. Specifically, this work expands upon a previously presented power model by including the effect of elevation changes on the energy usage of the robot. The total power needed to travel to a goal location is then combined with an instantaneous center of rotation (ICR) kinematic model to plan energy-aware paths using a Sampling Based Model Predictive Optimization (SBMPO) algorithm. This method is demonstrated using a simulated environment with a wide range of varying scenarios representative of real-world usages. The results show that, in some hilly cases, it is more energy efficient to take a longer path when operating skid-steer robots on mixed terrain. These results are intended to improve the accuracy of energy consumption models for robotics.

Original languageEnglish (US)
Title of host publication2020 American Control Conference, ACC 2020
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages6
ISBN (Electronic)9781538682661
StatePublished - Jul 2020
Event2020 American Control Conference, ACC 2020 - Denver, United States
Duration: Jul 1 2020Jul 3 2020

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619


Conference2020 American Control Conference, ACC 2020
Country/TerritoryUnited States

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering


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