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

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

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

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

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

Popis výsledku anglicky

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.

Druh

J_imp - Článek v periodiku v databázi Web of Science

CEP obor

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OECD FORD obor

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

Projekt

—

Návaznosti

I - Institucionalni podpora na dlouhodoby koncepcni rozvoj vyzkumne organizace

Rok uplatnění

2020

Kód důvěrnosti údajů

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

Název periodika

IEEE Access

ISSN

2169-3536

e-ISSN

2169-3536

Svazek periodika

8

Číslo periodika v rámci svazku

září 2020

Stát vydavatele periodika

AU - Austrálie

Počet stran výsledku

13

Strana od-do

170915-170927

Kód UT WoS článku

000573790100001

EID výsledku v databázi Scopus

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