IDEAS home Printed from https://ideas.repec.org/a/gam/jeners/v16y2023i3p1532-d1057355.html
   My bibliography  Save this article

Energy Consumption Analysis of the Selected Navigation Algorithms for Wheeled Mobile Robots

Author

Listed:
  • Adam Rapalski

    (Faculty of Electrical Engineering, Częstochowa University of Technology, 17 Armii Krajowej Avenue, 42-201 Częstochowa, Poland)

  • Sebastian Dudzik

    (Faculty of Electrical Engineering, Częstochowa University of Technology, 17 Armii Krajowej Avenue, 42-201 Częstochowa, Poland)

Abstract

The article presents the research on navigation algorithms of a wheeled mobile robot with the use of a vision mapping system and the analysis of energy consumption of selected navigation algorithms, such as RRT and A-star. Obstacle maps were made with the use of an RGBW camera, and binary occupation maps were also made, which were used to determine the traffic path. To recreate the routes in hardware, a programmed Pure Pursuit controller was used. The results of navigation were compared on the basis of the forward kinematics model and odometry measurements. Quantities such as current, except (x, y, phi), and linear and angular velocities were measured in real time. As a result of the conducted research, it was found that the RRT star algorithm consumes the least energy to reach the designated target in the designated environment.

Suggested Citation

  • Adam Rapalski & Sebastian Dudzik, 2023. "Energy Consumption Analysis of the Selected Navigation Algorithms for Wheeled Mobile Robots," Energies, MDPI, vol. 16(3), pages 1-37, February.
    • Handle: RePEc:gam:jeners:v:16:y:2023:i:3:p:1532-:d:1057355
    as

    Download full text from publisher

    File URL: https://www.mdpi.com/1996-1073/16/3/1532/pdf
    Download Restriction: no
    File URL: https://www.mdpi.com/1996-1073/16/3/1532/
    Download Restriction: no
    ---><---

    References listed on IDEAS

    as
    1. Krystian Góra & Mateusz Kujawinski & Damian Wroński & Grzegorz Granosik, 2021. "Comparison of Energy Prediction Algorithms for Differential and Skid-Steer Drive Mobile Robots on Different Ground Surfaces," Energies, MDPI, vol. 14(20), pages 1-16, October.
    2. Sebastian Dudzik, 2020. "Application of the Motion Capture System to Estimate the Accuracy of a Wheeled Mobile Robot Localization," Energies, MDPI, vol. 13(23), pages 1-29, December.
    Full references (including those not matched with items on IDEAS)

    Citations

    Citations are extracted by the CitEc Project, subscribe to its RSS feed for this item.
    as


    Cited by:

    1. Sathian Pookkuttath & Prabakaran Veerajagadheswar & Mohan Rajesh Elara, 2023. "AI-Enabled Condition Monitoring Framework for Indoor Mobile Cleaning Robots," Mathematics, MDPI, vol. 11(17), pages 1-21, August.
    2. Sathian Pookkuttath & Raihan Enjikalayil Abdulkader & Mohan Rajesh Elara & Prabakaran Veerajagadheswar, 2023. "AI-Enabled Vibrotactile Feedback-Based Condition Monitoring Framework for Outdoor Mobile Robots," Mathematics, MDPI, vol. 11(18), pages 1-23, September.

    Most related items

    These are the items that most often cite the same works as this one and are cited by the same works as this one.
    1. Piotr Szeląg & Sebastian Dudzik & Anna Podsiedlik, 2023. "Investigation on the Mobile Wheeled Robot in Terms of Energy Consumption, Travelling Time and Path Matching Accuracy," Energies, MDPI, vol. 16(3), pages 1-30, January.

    Corrections

    All material on this site has been provided by the respective publishers and authors. You can help correct errors and omissions. When requesting a correction, please mention this item's handle: RePEc:gam:jeners:v:16:y:2023:i:3:p:1532-:d:1057355. See general information about how to correct material in RePEc.

    If you have authored this item and are not yet registered with RePEc, we encourage you to do it here. This allows to link your profile to this item. It also allows you to accept potential citations to this item that we are uncertain about.

    If CitEc recognized a bibliographic reference but did not link an item in RePEc to it, you can help with this form .

    If you know of missing items citing this one, you can help us creating those links by adding the relevant references in the same way as above, for each refering item. If you are a registered author of this item, you may also want to check the "citations" tab in your RePEc Author Service profile, as there may be some citations waiting for confirmation.

    For technical questions regarding this item, or to correct its authors, title, abstract, bibliographic or download information, contact: MDPI Indexing Manager (email available below). General contact details of provider: https://www.mdpi.com .

    Please note that corrections may take a couple of weeks to filter through the various RePEc services.

    IDEAS is a RePEc service. RePEc uses bibliographic data supplied by the respective publishers.