ICRA 2011 Paper Abstract

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Paper TuP109.2

Tokekar, Pratap (University of Minnesota), Karnad, Nikhil (University of Minnesota, Twin-Cities), Isler, Volkan (University of Minnesota)

Energy-Optimal Velocity Profiles for Car-Like Robots

Scheduled for presentation during the Regular Sessions "Motion and Path Planning I" (TuP109), Tuesday, May 10, 2011, 13:55−14:10, Room 5D

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on March 29, 2020

Keywords Motion and Path Planning, Nonholonomic Motion Planning

Abstract

For battery-powered mobile robots to operate for long periods of time, it is critical to optimize their motion so as to minimize energy consumption. The driving motors are a major source of power consumption. In this paper, we study the problem of finding velocity profiles for car-like robots so as to minimize the energy consumed while traveling along a given path.

We start with an established model for energy consumption of DC motors. We present closed form solutions for the unconstrained case and for the case where there is a bound on maximum velocity. We also study a general problem where the robot's path is composed of segments (e.g. circular arcs and line segments). We are given a velocity bound for each segment. For this problem, we present a dynamic programming solution which uses the solution for the single-constraint case as a subroutine. In addition, we present a calibration method to find model parameters. Finally, we present results from experiments conducted on a custom-built robot.

 

 

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