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.

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