TY - GEN
T1 - Energy-Aware Path Planning for Skid-Steer Robots Operating on Hilly Terrain
AU - Gruning, Veronica
AU - Pentzer, Jesse
AU - Brennan, Sean
AU - Reichard, Karl
N1 - Publisher Copyright:
© 2020 AACC.
PY - 2020/7
Y1 - 2020/7
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=85089585189&partnerID=8YFLogxK
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U2 - 10.23919/ACC45564.2020.9147470
DO - 10.23919/ACC45564.2020.9147470
M3 - Conference contribution
AN - SCOPUS:85089585189
T3 - Proceedings of the American Control Conference
SP - 2094
EP - 2099
BT - 2020 American Control Conference, ACC 2020
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2020 American Control Conference, ACC 2020
Y2 - 1 July 2020 through 3 July 2020
ER -