Energy Optimal Speed Profiles for a Differential Drive Mobile Robot with Payload

Mauricio F. Jaramillo-Morales (), Sedat Dogru () and Lino Marques ()
Additional contact information
Mauricio F. Jaramillo-Morales: Universidad Autónoma de Manizales
Sedat Dogru: University of Coimbra
Lino Marques: University of Coimbra

Journal of Optimization Theory and Applications, 2025, vol. 204, issue 2, No 2, 24 pages

Abstract: Abstract Mobile robots are being used more widely in various environments, such as households, hospitals, agriculture, and industry. In these spaces, many times the robots are required to cover long distances, at times carrying heavy payloads, resulting in large energy consumption. In order to reduce the energy consumption, this paper presents a set of novel optimal speed profiles for two wheel differential drive robots. The profiles are derived using Hamiltonian formalism, resulting in closed-form speed profiles for both straight and rotational motions. The derivation used a power model that explicitly considers robot and motor dynamic parameters as well as external payload. Energy consumption of a commercial two wheel differential drive robot was experimentally evaluated using various trapezoidal and the proposed optimum speed profiles, showing significant energy savings using the new speed profiles. The paper also presents an analysis on variations of trajectory times and maximum speeds with varying payloads.

Keywords: Mobile robot; Energy optimization; Hamiltonian formalism; Payload (search for similar items in EconPapers)
Date: 2025
References: View references in EconPapers View complete reference list from CitEc
Citations:

Downloads: (external link)
http://link.springer.com/10.1007/s10957-024-02590-4 Abstract (text/html)
Access to the full text of the articles in this series is restricted.

Related works:
This item may be available elsewhere in EconPapers: Search for items with the same title.

Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text

Persistent link: https://EconPapers.repec.org/RePEc:spr:joptap:v:204:y:2025:i:2:d:10.1007_s10957-024-02590-4

Ordering information: This journal article can be ordered from
http://www.springer. ... cs/journal/10957/PS2

DOI: 10.1007/s10957-024-02590-4

Access Statistics for this article

Journal of Optimization Theory and Applications is currently edited by Franco Giannessi and David G. Hull

More articles in Journal of Optimization Theory and Applications from Springer
Bibliographic data for series maintained by Sonal Shukla () and Springer Nature Abstracting and Indexing ().