Energy Efficiency Analysis of Differential and Omnidirectional Robotic Platforms: A Comparative Study

Chellal, Arezki Abderrahim; Braun, João; Junior, Luciano Bonzatto; Faria, Milena; Kalbermatter, Rebeca B.; Gonçalves, José; Costa, Paulo Gomes da; Lima, José

http://hdl.handle.net/10198/31173

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Autores

Chellal, Arezki Abderrahim

Braun, João

Junior, Luciano Bonzatto

Faria, Milena

Kalbermatter, Rebeca B.

Gonçalves, José

Costa, Paulo Gomes da

Lima, José

Resumo(s)

As robots have limited power sources. Energy optimization is essential to ensure an extension for their operating periods without needing to be recharged, thus maximizing their uptime and minimizing their running costs. This paper compares the energy consumption of different mobile robotic platforms, including differential, omnidirectional 3-wheel, omnidirectional 4-wheel, and Mecanum platforms. The comparison is based on the RobotAtFactory 4.0 competition that typically takes place during the Portuguese Robotics Open. The energy consumption from the batteries for each platform is recorded and compared. The experiments were conducted in a validated simulation environment with dynamic and friction models to ensure that the platforms operated at similar speeds and accelerations and through a 5200 mAh battery simulation. Overall, this study provides valuable information on the energy consumption of different mobile robotic platforms. Among other findings, differential robots are the most energy-efficient robots, while 4-wheel omnidirectional robots may offer a good balance between energy efficiency and maneuverability.

Palavras-chave

Kinematics Omnidirectional robot Mecanum robot Differential robot Battery SOC simulation Energy efficiency

URI

http://hdl.handle.net/10198/31173

Citação

Chellal, Arezki Abderrahim; Braun, João; Junior, Luciano Bonzatto; Faria, Milena; Kalbermatter, Rebeca B.; Gonçalves, José; Costa, Paulo; Lima, José (2024). Energy Efficiency Analysis of Differential and Omnidirectional Robotic Platforms: A Comparative Study. In 26th International Conference Series on Climbing and Walking Robots and Mobile Machine Support Technologies (CLAWAR 2023). Cham: Springer Nature, p. 103-113. ISBN 978-3-031-47268-8.