标题：Energy Modeling and Power Measurement for Mobile Robots
作者：Hou, Linfei; Zhang, Liang; Kim, Jongwon
作者机构：[Hou, Linfei; Zhang, Liang] Shandong Univ Weihai, Sch Mech Elect & Informat Engn, Weihai 264209, Peoples R China.; [Kim, Jongwon] Korea Univ Technol 更多
通讯作者：Zhang, Liang;Zhang, L
通讯作者地址：[Zhang, L]Shandong Univ Weihai, Sch Mech Elect & Informat Engn, Weihai 264209, Peoples R China.
关键词：robot energy modeling; energy measurements; energy consumption; mobile; robot
摘要：To improve the energy efficiency of a mobile robot, a novel energy modeling method for mobile robots is proposed in this paper. The robot can calculate and predict energy consumption through the energy model, which provides a guide to facilitate energy-efficient strategies. The energy consumption of the mobile robot is first modeled by considering three major factors: the sensor system, control system, and motion system. The relationship between the three systems is elaborated by formulas. Then, the model is utilized and experimentally tested in a four-wheeled Mecanum mobile robot. Furthermore, the power measurement methods are discussed. The energy consumption of the sensor system and control system was at the milliwatt level, and a Monsoon power monitor was used to accurately measure the electrical power of the systems. The experimental results showed that the proposed energy model can be used to predict the energy consumption of the robot movement processes in addition to being able to efficiently support the analysis of the energy consumption characteristics of mobile robots.