Title :
Power Analysis for a Skid-Steered Tracked Mobile Robot
Author :
Morales, Jesús ; Martínez, Jorge L. ; Mandow, Anthony ; García-Cerezo, Alfonso J. ; Gómez-Gabriel, Jesus M. ; Pedraza, Salvador
Author_Institution :
Escuela Tecnica Superior de Ingenieros Industriales, Univ. de Malaga
Abstract :
Power consumption is a key element in mobile robot autonomy. This issue is more critical in tracked vehicles than in wheeled vehicles on account of relevant energy losses due to soil-track friction. This paper analyzes power efficiency in tracked mobile robots both from theoretical and experimental points of view. In particular, we have analysed power consumption for Auriga-beta, a 190 kg mobile robot with rubber tracks for skid steering. Novel implications of this study for path planning are presented in the paper
Keywords :
friction; mobile robots; steering systems; tracking; Auriga-beta; energy losses; power analysis; power consumption; skid-steered tracked mobile robot; soil-track friction; Energy consumption; Energy loss; Friction; Mobile robots; Path planning; Robot sensing systems; Rubber; Traction motors; Vehicle driving; Wheels;
Conference_Titel :
Mechatronics, 2006 IEEE International Conference on
Conference_Location :
Budapest
Print_ISBN :
0-7803-9712-6
Electronic_ISBN :
0-7803-9713-4
DOI :
10.1109/ICMECH.2006.252564
