Energy analysis of a mobile robotic platform of a differential type
DOI:
https://doi.org/10.18041/1909-2458/ingeniare.32.8963Keywords:
Robotic mobile platform, active disturbance rejection control, non-linear systems, GPI control, trajectory trackingAbstract
Mobile robotics during the last decade has made progress in the development of equipment that manages to perform risky tasks for humans, because its characteristics provide the possibility of exploring unknown places. In order to analyze the energy consumption of the platform, two control strategies were compared, both for position and speed control. The analysis methodology proposes that the platform was exposed to a fifth-order polynomial trajectory, in which both cases had to travel it and demonstrate, based on performance indices, its respective robustness against disturbances in the wheels of the device, as well as that of modifications. percentage to the characteristics of the platform, at the end of the tour by means of the average power theory it was verified which of the two control cases is the most energy efficient.
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