2019/05/29 by Kshitij Tiwari, Tiwari, Kshitij, Xuesu Xiao +5
Computer Science · Engineering · #Energy Efficient Wireless Sensor Networks #Energy Harvesting in Wireless Networks #FOS: Computer and information sciences #Opportunistic and Delay-Tolerant Networks #Robotic Path Planning Algorithms #Robotics (cs.RO)
paper · pdf · doi:10.48550/arxiv.1905.12559
openalex publication_date 2019/05/29 · openalex created_date 2022/07/29 · openalex updated_date 2026/07/28
This paper presents an approach for estimating the operational range for\nmobile robot exploration on a single battery discharge. Deploying robots in the\nwild usually requires uninterrupted energy sources to maintain the robot's\nmobility throughout the entire mission. However, for most endeavors into the\nunknown environments, recharging is usually not an option, due to the lack of\npre-installed recharging stations or other mission constraints. In these cases,\nthe ability to model the on-board energy consumption and estimate the\noperational range is crucial to prevent running out of battery in the wild. To\nthis end, this work describes our recent findings that quantitatively break\ndown the robot's on-board energy consumption and predict the operational range\nto guarantee safe mission completion on a single battery discharge cycle. Two\nrange estimators with different levels of generality and model fidelity are\npresented, whose performances were validated on physical robot platforms in\nboth indoor and outdoor environments. Model performance metrics are also\npresented as benchmarks.\n