Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
708703 | IFAC-PapersOnLine | 2016 | 6 Pages |
Abstract
An energy efficient local path planner for navigation of omnidirectional battery-powered mobile robots in dynamic environments is presented in this paper. The proposed algorithm extends the Dynamic Window Approach (DWA) to incorporate a cost function based on energy consumption. The estimated energy consumption during planning is predicted using a linear regression model that is learned on the fly. Empirical results are presented on a mobile robot platform that show a 9.79% decrease in energy consumption in comparison to the DWA approach.
Keywords
Related Topics
Physical Sciences and Engineering
Engineering
Computational Mechanics
Authors
Christian Henkel, Alexander Bubeck, Weiliang Xu,