Investigation on the Mobile Wheeled Robot in Terms of Energy Consumption, Travelling Time and Path Matching Accuracy

Piotr Szeląg (), Sebastian Dudzik and Anna Podsiedlik
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Piotr Szeląg: Faculty of Electrical Engineering, Częstochowa University of Technology, 17 Armii Krajowej Avenue, 42-201 Częstochowa, Poland
Sebastian Dudzik: Faculty of Electrical Engineering, Częstochowa University of Technology, 17 Armii Krajowej Avenue, 42-201 Częstochowa, Poland
Anna Podsiedlik: Faculty of Electrical Engineering, Częstochowa University of Technology, 17 Armii Krajowej Avenue, 42-201 Częstochowa, Poland

Energies, 2023, vol. 16, issue 3, 1-30

Abstract: The task of controlling a wheeled mobile robot is an important element of navigation algorithms. The control algorithm manages the robot’s movement in accordance with the path determined by the planner module, where the accuracy of mapping the given route is very important. Most often, mobile robots are battery-powered, which makes minimizing energy consumption and shortening travel time an important issue. For this reason, in this work, the mobile robot control algorithm was tested in terms of energy consumption, travel time and path mapping accuracy. During the research, a criterion was developed, thanks to which it was possible to select the optimal parameters of the pure pursuit algorithm that controls the movement of the tested robot. The research was carried out in the Laboratory of Intelligent Mobile Robots using the QBot2e mobile robot operating on the basis of differential drive kinematics. As a result of the research, optimal values of the control parameters were obtained, minimizing the travel time, energy consumption and mapping error of the given paths.

Keywords: wheeled mobile robot; pure pursuit algorithm; control parameters optimisation (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: 2023
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