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

Veronica Gruning; Jesse Pentzer; Sean Brennan; Karl Reichard

doi:10.23919/ACC45564.2020.9147470

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

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

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 language	English (US)
Title of host publication	2020 American Control Conference, ACC 2020
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	2094-2099
Number of pages	6
ISBN (Electronic)	9781538682661
DOIs	https://doi.org/10.23919/ACC45564.2020.9147470
State	Published - Jul 2020
Event	2020 American Control Conference, ACC 2020 - Virtual, Online, United States Duration: Jul 1 2020 → Jul 3 2020

Publication series

Name	Proceedings of the American Control Conference
Volume	2020-July
ISSN (Print)	0743-1619

Conference

Conference	2020 American Control Conference, ACC 2020
Country/Territory	United States
City	Virtual, Online
Period	7/1/20 → 7/3/20

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 7 Affordable and Clean Energy

All Science Journal Classification (ASJC) codes

Electrical and Electronic Engineering

Access to Document

10.23919/ACC45564.2020.9147470

Cite this

Gruning, V., Pentzer, J., Brennan, S., & Reichard, K. (2020). Energy-Aware Path Planning for Skid-Steer Robots Operating on Hilly Terrain. In 2020 American Control Conference, ACC 2020 (pp. 2094-2099). Article 9147470 (Proceedings of the American Control Conference; Vol. 2020-July). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.23919/ACC45564.2020.9147470

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title = "Energy-Aware Path Planning for Skid-Steer Robots Operating on Hilly Terrain",

abstract = "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.",

author = "Veronica Gruning and Jesse Pentzer and Sean Brennan and Karl Reichard",

note = "Publisher Copyright: {\textcopyright} 2020 AACC.; 2020 American Control Conference, ACC 2020 ; Conference date: 01-07-2020 Through 03-07-2020",

year = "2020",

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doi = "10.23919/ACC45564.2020.9147470",

language = "English (US)",

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Gruning, V, Pentzer, J , Brennan, S & Reichard, K 2020, Energy-Aware Path Planning for Skid-Steer Robots Operating on Hilly Terrain. in 2020 American Control Conference, ACC 2020., 9147470, Proceedings of the American Control Conference, vol. 2020-July, Institute of Electrical and Electronics Engineers Inc., pp. 2094-2099, 2020 American Control Conference, ACC 2020, Virtual, Online, United States, 7/1/20. https://doi.org/10.23919/ACC45564.2020.9147470

Energy-Aware Path Planning for Skid-Steer Robots Operating on Hilly Terrain. / Gruning, Veronica; Pentzer, Jesse ; Brennan, Sean et al.
2020 American Control Conference, ACC 2020. Institute of Electrical and Electronics Engineers Inc., 2020. p. 2094-2099 9147470 (Proceedings of the American Control Conference; Vol. 2020-July).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

TY - GEN

T1 - Energy-Aware Path Planning for Skid-Steer Robots Operating on Hilly Terrain

AU - Gruning, Veronica

AU - Pentzer, Jesse

AU - Brennan, Sean

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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.

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M3 - Conference contribution

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

Abstract

Publication series

Conference

UN SDGs

All Science Journal Classification (ASJC) codes

Access to Document

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