| Issue |
E3S Web Conf.
Volume 229, 2021
The 3rd International Conference of Computer Science and Renewable Energies (ICCSRE’2020)
|
|
|---|---|---|
| Article Number | 01029 | |
| Number of page(s) | 5 | |
| DOI | https://doi.org/10.1051/e3sconf/202122901029 | |
| Published online | 25 January 2021 | |
Energy Estimation Based on Path Tracking for a Differential Drive Wheeled Mobile Robot
Laboratory of Structural Engineering, Intelligent Systems and Electrical Energy, Department of Electrical Engineering, Hassan II University, Casablanca, Morocco
* Corresponding author: fadlosaid@gmail.com
To improve the energy efficiency of mobile robots and increase their time of operation, a comprehensive energy model is needed. Having such a model requires a lot of complex analysis and design time. There has been a lot of research into optimizing the power consumption of mobile robots but have not benefited from the advantages of languages to model complex cyber-physical systems. In this work, we used the Simscape™ MATLAB® environment to simplify and speed up the design of an energy consumption model of a differential drive mobile robot. We also estimated the energy consumption of the mobile in a different path tracking scenario. Our results show that is possible to obtain a good accuracy of path following with acceptable energy consumption.
© The Authors, published by EDP Sciences, 2021
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 4.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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