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

2024Conference paper Restricted access
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dc.contributor.authorChellal, Arezki Abderrahim
dc.contributor.authorBraun, João
dc.contributor.authorJunior, Luciano Bonzatto
dc.contributor.authorFaria, Milena
dc.contributor.authorKalbermatter, Rebeca B.
dc.contributor.authorGonçalves, José
dc.contributor.authorCosta, Paulo Gomes da
dc.contributor.authorLima, José
dc.date.accessioned2025-02-11T16:11:48Z
dc.date.available2025-02-11T16:11:48Z
dc.date.issued2024
dc.description.abstractAs 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.pt_PT
dc.description.sponsorshipThe authors are grateful to the Foundation for Science and Technology (FCT, Portugal) for financial support through national funds FCT/MCTES (PIDDAC) to CeDRI (UIDB/05757/2020) and (UIDP/05757/2020) and SusTEC (LA/P/0007 /2021). The project that gave rise to these results received the support of a fellowship from ”la Caixa” Foundation (ID 100010434). The fellowship code is LCF/BQ/DI20/11780028. The authors also would like to thank CEFET/RJ and the Brazilian research agencies CAPES, CNPq, and FAPERJ. Arezki A. Chellal is grateful to the FCT Foundation for its support through the FCT PhD scholarship with reference UI/BD/154484/2022.pt_PT
dc.description.versioninfo:eu-repo/semantics/publishedVersionpt_PT
dc.identifier.citationChellal, 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.pt_PT
dc.identifier.doi10.1007/978-3-031-47269-5_12pt_PT
dc.identifier.eissn2367-3389
dc.identifier.isbn978-3-031-47268-8
dc.identifier.urihttp://hdl.handle.net/10198/31173
dc.language.isoengpt_PT
dc.peerreviewedyespt_PT
dc.publisherSpringer Naturept_PT
dc.relationResearch Centre in Digitalization and Intelligent Robotics
dc.relationResearch Centre in Digitalization and Intelligent Robotics
dc.relationAssociate Laboratory for Sustainability and Tecnology in Mountain Regions
dc.rights.urihttp://creativecommons.org/licenses/by/4.0/pt_PT
dc.subjectKinematicspt_PT
dc.subjectOmnidirectional robotpt_PT
dc.subjectMecanum robotpt_PT
dc.subjectDifferential robotpt_PT
dc.subjectBattery SOC simulationpt_PT
dc.subjectEnergy efficiencypt_PT
dc.titleEnergy Efficiency Analysis of Differential and Omnidirectional Robotic Platforms: A Comparative Studypt_PT
dc.typeconference paper
dspace.entity.typePublication
oaire.awardTitleResearch Centre in Digitalization and Intelligent Robotics
oaire.awardTitleResearch Centre in Digitalization and Intelligent Robotics
oaire.awardTitleAssociate Laboratory for Sustainability and Tecnology in Mountain Regions
oaire.awardURIinfo:eu-repo/grantAgreement/FCT/6817 - DCRRNI ID/UIDB%2F05757%2F2020/PT
oaire.awardURIinfo:eu-repo/grantAgreement/FCT/6817 - DCRRNI ID/UIDP%2F05757%2F2020/PT
oaire.awardURIinfo:eu-repo/grantAgreement/FCT/6817 - DCRRNI ID/LA%2FP%2F0007%2F2020/PT
oaire.awardURIinfo:eu-repo/grantAgreement/FCT/POR_NORTE/UI%2FBD%2F154484%2F2022/PT
oaire.citation.endPage113pt_PT
oaire.citation.startPage103pt_PT
oaire.citation.title26th International Conference Series on Climbing and Walking Robots and Mobile Machine Support Technologies (CLAWAR 2023)pt_PT
oaire.fundingStream6817 - DCRRNI ID
oaire.fundingStream6817 - DCRRNI ID
oaire.fundingStream6817 - DCRRNI ID
oaire.fundingStreamPOR_NORTE
person.familyNameChellal
person.familyNameBraun
person.familyNameKalbermatter
person.familyNameGonçalves
person.familyNameLima
person.givenNameArezki Abderrahim
person.givenNameJoão A.
person.givenNameRebeca B.
person.givenNameJosé
person.givenNameJosé
person.identifierR-000-7ZW
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person.identifier.ciencia-id8112-DCE2-D025
person.identifier.ciencia-id6016-C902-86A9
person.identifier.orcid0000-0002-9190-6865
person.identifier.orcid0000-0003-0276-4314
person.identifier.orcid0000-0002-5219-4084
person.identifier.orcid0000-0002-5499-1730
person.identifier.orcid0000-0001-7902-1207
person.identifier.ridB-8547-2018
person.identifier.ridL-3370-2014
person.identifier.scopus-author-id57211244317
person.identifier.scopus-author-id48361230200
person.identifier.scopus-author-id55851941311
project.funder.identifierhttp://doi.org/10.13039/501100001871
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project.funder.identifierhttp://doi.org/10.13039/501100001871
project.funder.identifierhttp://doi.org/10.13039/501100001871
project.funder.nameFundação para a Ciência e a Tecnologia
project.funder.nameFundação para a Ciência e a Tecnologia
project.funder.nameFundação para a Ciência e a Tecnologia
project.funder.nameFundação para a Ciência e a Tecnologia
rcaap.rightsrestrictedAccesspt_PT
rcaap.typeconferenceObjectpt_PT
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