Energy Consumption Analysis of the Selected Navigation Algorithms for Wheeled Mobile Robots

Adam Rapalski () and Sebastian Dudzik
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Adam Rapalski: 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

Energies, 2023, vol. 16, issue 3, 1-37

Abstract: The article presents the research on navigation algorithms of a wheeled mobile robot with the use of a vision mapping system and the analysis of energy consumption of selected navigation algorithms, such as RRT and A-star. Obstacle maps were made with the use of an RGBW camera, and binary occupation maps were also made, which were used to determine the traffic path. To recreate the routes in hardware, a programmed Pure Pursuit controller was used. The results of navigation were compared on the basis of the forward kinematics model and odometry measurements. Quantities such as current, except (x, y, phi), and linear and angular velocities were measured in real time. As a result of the conducted research, it was found that the RRT star algorithm consumes the least energy to reach the designated target in the designated environment.

Keywords: wheeled mobile robot; robotic navigation; energy consumption analysis; mapping; energy (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
References: View references in EconPapers View complete reference list from CitEc
Citations: View citations in EconPapers (3)

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