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Publicação
Battery management system for mobile robots based on an extended Kalman filter approch
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| 3.58 MB | Adobe PDF |
Autores
Orientador(es)
Resumo(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.
Descrição
Palavras-chave
Electric batteries Extended Kalman filters Mobile robots Personal computers
Contexto Educativo
Citação
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