An Investigation into the Energy-Efficient Motion of Autonomous Wheeled Mobile Robots

Mohammad Mohammadpour, Lotfi Zeghmi, Sousso Kelouwani, Marc-André Gaudreau, Ali Amamou and Massinissa Graba
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Mohammad Mohammadpour: Department of Mechanical Engineering, University of Quebec at Trois-Rivieres, Trois-Rivieres, QC G8Z 4M3, Canada
Lotfi Zeghmi: Department of Electrical and Computer Engineering, University of Quebec at Trois-Rivieres, Trois-Rivieres, QC G8Z 4M3, Canada
Sousso Kelouwani: Department of Mechanical Engineering, University of Quebec at Trois-Rivieres, Trois-Rivieres, QC G8Z 4M3, Canada
Marc-André Gaudreau: Department of Mechanical Engineering, University of Quebec at Trois-Rivieres, Trois-Rivieres, QC G8Z 4M3, Canada
Ali Amamou: Department of Electrical and Computer Engineering, University of Quebec at Trois-Rivieres, Trois-Rivieres, QC G8Z 4M3, Canada
Massinissa Graba: Department of Electrical and Computer Engineering, University of Quebec at Trois-Rivieres, Trois-Rivieres, QC G8Z 4M3, Canada

Energies, 2021, vol. 14, issue 12, 1-19

Abstract: In recent years, the use of electric Autonomous Wheeled Mobile Robots (AWMRs) has dramatically increased in transport of the production chain. Generally, AWMRs must operate for several hours on a single battery charge. Since the energy density of the battery is limited, energy efficiency becomes a key element in improving material transportation performance during the manufacturing process. However, energy consumption is influenced by the navigation stages, because the type of motion necessary for the AWMR to perform during a mission is totally defined by these stages. Therefore, this paper analyzes methods of energy efficiency that have been studied recently for AWMR navigation stages. The selected publications are classified into planning and motion control categories in order to identify research gaps. Unlike other similar studies, this work focuses on these methods with respect to their implications for the energy consumption of AWMRs. In addition, by using an industrial Self-Guided Vehicle (SGV), we illustrate the direct influence of the motion planning stage on global energy consumption by means of several simulations and experiments. The results indicate that the reaction of the SGV in response to unforeseen obstacles can affect the amount of energy consumed. Hence, energy constraints must be considered when developing the motion planning of AWMRs.

Keywords: navigation; motion planning; dynamic; energy efficiency; autonomous wheeled mobile robots; self-guided vehicles (search for similar items in EconPapers)
JEL-codes: Q Q0 Q4 Q40 Q41 Q42 Q43 Q47 Q48 Q49 (search for similar items in EconPapers)
Date: 2021
References: View references in EconPapers View complete reference list from CitEc
Citations: View citations in EconPapers (2)

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