Energy Comparison of Controllers Used for a Differential Drive Wheeled Mobile Robot

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F60162694%3AG43__%2F20%3A00556051" target="_blank" >RIV/60162694:G43__/20:00556051 - isvavai.cz</a>

Result on the web

<a href="https://doi.org/10.1109/ACCESS.2020.3023345" target="_blank" >https://doi.org/10.1109/ACCESS.2020.3023345</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1109/ACCESS.2020.3023345" target="_blank" >10.1109/ACCESS.2020.3023345</a>

Result language

angličtina

Original language name

Energy Comparison of Controllers Used for a Differential Drive Wheeled Mobile Robot

Original language description

In order to select the best controller for a Differential Drive Wheeled Mobile Robot (DDWMR), an energy consumption comparison relating to tracking accuracy is used as a very strict criterion. Therefore, this paper reviews some well-known controllers designed for the DDWMR. Furthermore, there are presented several experiments with the extensible open-source code programmed in Python. Such an extensible open-source code presentation could serve as a tool for simulating, comparing, and evaluating a set of different control algorithms. The kinematic and dynamic models of the DDWMR and control algorithms are implemented in this open-source code to determine a travel time, a distance between the robot’s position and a given path, a linear velocity, an angular velocity, a travel path length, and a total kinetic energy loss of the DDWMR. These simulation results are used to compare and evaluate the given control algorithms. Moreover, the simulation results also enable to answer the question of whether a significant increase in energy consumption is worth shortening the travel path by just a bit. Finally, this paper includes a direct link to the stored experiments which are runnable and could serve as a proof. Besides, users can also easily supplement with other controllers and different paths to evaluate robot tracking control algorithms.

Czech name

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Czech description

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Type

J_imp - Article in a specialist periodical, which is included in the Web of Science database

CEP classification

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OECD FORD branch

10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

Project

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Continuities

I - Institucionalni podpora na dlouhodoby koncepcni rozvoj vyzkumne organizace

Publication year

2020

Confidentiality

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Name of the periodical

IEEE Access

ISSN

2169-3536

e-ISSN

2169-3536

Volume of the periodical

8

Issue of the periodical within the volume

září 2020

Country of publishing house

AU - AUSTRALIA

Number of pages

13

Pages from-to

170915-170927

UT code for WoS article

000573790100001

EID of the result in the Scopus database

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