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An alternative trajectory planning for a differential wheeled robot, aimed to unknown environment mapping with minimum energy consumption, based on a simplified dynamic model
dc.rights.license | Atribución-SinDerivadas 4.0 Internacional |
dc.contributor.advisor | Gómez Mendoza, Juan Bernardo |
dc.contributor.author | Jaramillo Morales, Mauricio Fernando |
dc.date.accessioned | 2020-08-14T21:39:16Z |
dc.date.available | 2020-08-14T21:39:16Z |
dc.date.issued | 2020 |
dc.identifier.uri | https://repositorio.unal.edu.co/handle/unal/78049 |
dc.description.abstract | Un modelo de estimación de energía para un robot móvil puede realizar una aproximación del consumo energético del robot para cualquier aplicación. En este estudio, se presenta un modelo de estimación de energía que tiene en cuenta los parámetros dinámicos del robot y de los motores. El modelo propuesto permite predecir los valores de energía del robot para diferentes aceleraciones y pesos de carga, a diferencia de trabajos previos relacionados. La validación del modelo fue realizado para trayectorias lineales y rotacionales. Para las trayectorias lineales, la estimación matemática del modelo puede ser simplificada, entregando una función de costo a optimizar. Para trayectorias rotacionales, los términos relacionados con fuerzas inerciales aparecen de nuevo en el modelo. El robot móvil Nomad Super Scout es usado para las pruebas experimentales. Los experimentos muestran que el modelo propuesto puede estimar la energía consumida por el robot con precisión, alcanzando un porcentaje de éxito de 96.67 % para trayectorias lineales, y de un 81.25 % para las trayectorias curvas. El modelo de estimación de potencia es usado para construir la función Hamiltoniana, la cual bajo ciertas condiciones de optimización puede entregar la velocidad óptima del robot que minimiza la energía consumida por una trayectoria lineal. En este estudio, una solución matemática de forma cerrada de la velocidad óptima del robot es evaluada en una aplicación típica de robótica como es la localización simultánea y mapeo (Simulaneous Location and Mapping- SLAM). |
dc.description.abstract | the robot for any application. In this study, an energy estimation model that takes into account the dynamic parameters of the motor and the robot, is proposed. The proposed model allows us to predict the energy values for different accelerations and different payloads, unlike most previous work. The validation of the proposed model was carried out for straight and rotational trajectories. For straight trajectories, the mathematical estimation model can be simplified by giving a linear estimation of the cost function. For rotational trajectories, the terms related to inertia forces appear again in the model. The Nomad Super Scout mobile robot is used for experimental tests. The experiments showed that the proposed model is able to estimate the energy consumption of the robot accurately, reaching a success rate of 96.67 % along a straight paths and 81.25 % along a curved paths. The power estimation model is used to build the Hamiltonian function, that under a necessary optimization condition, can provide the optimal velocity of the robot that minimizes the energy consumption for a given straight path. In this study, a closed-form solution of the optimal velocity that takes into account high energy consumption and payload is presented as well. Finally, the optimal velocity of the robot is evaluated in a typical robotic application such as the solution of the SLAM problem. |
dc.description.sponsorship | Colciencias |
dc.format.extent | 97 |
dc.format.mimetype | application/pdf |
dc.language.iso | eng |
dc.rights | Derechos reservados - Universidad Nacional de Colombia |
dc.rights.uri | http://creativecommons.org/licenses/by-nd/4.0/ |
dc.subject.ddc | 620 - Ingeniería y operaciones afines |
dc.title | An alternative trajectory planning for a differential wheeled robot, aimed to unknown environment mapping with minimum energy consumption, based on a simplified dynamic model |
dc.title.alternative | Planificador de trayectorias alternativo, enfocado al mapeo de entornos desconocidos con gasto mínimo energético, basado en un modelo dinámico simplificado |
dc.type | Otro |
dc.rights.spa | Acceso abierto |
dc.description.additional | A Thesis presented for the degree of : Ph.D in Engineering - Automatic. -- Research Area: Mobile robotic. -- This work was financially supported by Colciencias Colombia, National Scholarship - 567, and partially supported by ISR - University of Coimbra, project UID/EEA/00048/2013 funded by FCT - Fundação para a Ciência e a tecnologia. |
dc.type.driver | info:eu-repo/semantics/other |
dc.type.version | info:eu-repo/semantics/acceptedVersion |
dc.publisher.program | Manizales - Ingeniería y Arquitectura - Doctorado en Ingeniería - Automática |
dc.contributor.researchgroup | Computación Aplicada Suave y Dura (SHAC) |
dc.description.degreelevel | Doctorado |
dc.publisher.department | Departamento de Ingeniería Eléctrica y Electrónica |
dc.publisher.branch | Universidad Nacional de Colombia - Sede Manizales |
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dc.rights.accessrights | info:eu-repo/semantics/openAccess |
dc.subject.proposal | Differential drive mobile robot |
dc.subject.proposal | Robot de guiado diferencial |
dc.subject.proposal | Power estimation model |
dc.subject.proposal | Modelo de estimación de potencia |
dc.subject.proposal | Optimización de energía |
dc.subject.proposal | Energy optimization |
dc.subject.proposal | SLAM problem |
dc.subject.proposal | SLAM |
dc.type.coar | http://purl.org/coar/resource_type/c_1843 |
dc.type.coarversion | http://purl.org/coar/version/c_ab4af688f83e57aa |
dc.type.content | Text |
oaire.accessrights | http://purl.org/coar/access_right/c_abf2 |
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