Energy storage is a major limiting factor for small unmanned ground vehicle endurance. This paper presents a hybrid model of a robot power system and a method to optimize power production and limit power loss for extended UGV operation. The optimization is based on a hybrid automaton model of the power system and produces the optimal controls for the different power components. An abstraction of power use and averaging of dynamics within a state can model the system with sufficient accuracy for power system optimization. Simulation studies of a Packbot equipped with a fuel cell and a battery are presented. The optimized power system is shown to require less energy over the mission compared to a baseline controller.
- Dynamic Systems and Control Division
Modeling and Scheduling of Multiple Power Sources for a Ground Robot
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Broderick, JA, Tilbury, DM, & Atkins, EM. "Modeling and Scheduling of Multiple Power Sources for a Ground Robot." Proceedings of the ASME 2014 Dynamic Systems and Control Conference. Volume 1: Active Control of Aerospace Structure; Motion Control; Aerospace Control; Assistive Robotic Systems; Bio-Inspired Systems; Biomedical/Bioengineering Applications; Building Energy Systems; Condition Based Monitoring; Control Design for Drilling Automation; Control of Ground Vehicles, Manipulators, Mechatronic Systems; Controls for Manufacturing; Distributed Control; Dynamic Modeling for Vehicle Systems; Dynamics and Control of Mobile and Locomotion Robots; Electrochemical Energy Systems. San Antonio, Texas, USA. October 22–24, 2014. V001T17A002. ASME. https://doi.org/10.1115/DSCC2014-6111
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