Battery management system for mobile robots based on an extended Kalman filter approch

Chellal, Arezki Abderrahim; Lima, José; Gonçalves, José; Megnafi, Hicham

http://hdl.handle.net/10198/23882

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Authors

Chellal, Arezki Abderrahim

Lima, José

Gonçalves, José

Megnafi, Hicham

Abstract(s)

Robots are rapidly developing, due to the technology advances and the increased need for their mobility. Mobile Robots can move freely in unconstrained environments, without any external help. They are supplied by batteries as the only source of energy that they could access. Thus, the management of the energy offered by these batteries is so crucial and has to be done properly. Most advanced Battery Management System (BMS) algorithms reported in literature are developed and veri ed with laboratory-based experiments. The acquired data is then processed either online or of ine, using PC-based software. This work consists of developing an on-Chip Extended Kalman Filter based BMS, which can be directly linked in a robot without having to be connected with an external device to process the data. The proposed system is implemented in a low-cost 8 bit microcontroller and results allow to validate the proposed approach.

Keywords

Electric batteries Extended Kalman filters Mobile robots Personal computers

URI

http://hdl.handle.net/10198/23882

Citation

Chellal, Arezki Abderrahim; Lima, José; Gonçalves, José; Megnafi, Hicham (2021). Battery management system for mobile robots based on an extended Kalman filter approch. In 29th Mediterranean Conference on Control and Automation, MED 2021. Bari. p. 1131-1136. ISBN 978-1-6654-2258-1