Experimental evaluation of energy optimization algorithm for mobile robots in three-dimension motion using predictive control

Torque saturation of DC motors of the wheels of mobile robots is one of the main difficulties during climbing hills. A two-DC motor-driven wheels mobile robot is used in the present work to attempt crossing a ditch-like hindrance using predictive control. The proposed predictive control algorithm is compared with the PID control and the open-loop control. Experimental examination of energy optimization algorithm for mobile robots is presented. The experimental results showed a good agreement with the simulation results confirming the capability of the predictive control to avoid torque saturation and indicating a noticeable reduction in the energy consumption. Additionally, a theoretical parametric study of the predictive control is presented. The effects of the road slope and the prediction horizon length on the consumed energy are evaluated. The analytical study showed that the energy consumption is reduced by increasing the prediction horizon until it reaches a limit at which no more energy reduction is obtained. This limit is proportional to the width of the ditch in front of the mobile robot.