Energy Consumption Analysis of the Selected Navigation Algorithms for Wheeled Mobile Robots
The article presents the research on navigation algorithms of a wheeled mobile robot with the use of a vision mapping system and the analysis of energy consumption of selected navigation algorithms, such as RRT and A-star. Obstacle maps were made with the use of an RGBW camera, and binary occupation...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2023-02-01
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| Series: | Energies |
| Subjects: | |
| Online Access: | https://www.mdpi.com/1996-1073/16/3/1532 |
| _version_ | 1797624625737236480 |
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| author | Adam Rapalski Sebastian Dudzik |
| author_facet | Adam Rapalski Sebastian Dudzik |
| author_sort | Adam Rapalski |
| collection | DOAJ |
| description | The article presents the research on navigation algorithms of a wheeled mobile robot with the use of a vision mapping system and the analysis of energy consumption of selected navigation algorithms, such as RRT and A-star. Obstacle maps were made with the use of an RGBW camera, and binary occupation maps were also made, which were used to determine the traffic path. To recreate the routes in hardware, a programmed Pure Pursuit controller was used. The results of navigation were compared on the basis of the forward kinematics model and odometry measurements. Quantities such as current, except (x, y, phi), and linear and angular velocities were measured in real time. As a result of the conducted research, it was found that the RRT star algorithm consumes the least energy to reach the designated target in the designated environment. |
| first_indexed | 2024-03-11T09:45:13Z |
| format | Article |
| id | doaj.art-9ca7251d31b644a4acaa29a7838526ed |
| institution | Directory Open Access Journal |
| issn | 1996-1073 |
| language | English |
| last_indexed | 2024-03-11T09:45:13Z |
| publishDate | 2023-02-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Energies |
| spelling | doaj.art-9ca7251d31b644a4acaa29a7838526ed2023-11-16T16:38:56ZengMDPI AGEnergies1996-10732023-02-01163153210.3390/en16031532Energy Consumption Analysis of the Selected Navigation Algorithms for Wheeled Mobile RobotsAdam Rapalski0Sebastian Dudzik1Faculty of Electrical Engineering, Częstochowa University of Technology, 17 Armii Krajowej Avenue, 42-201 Częstochowa, PolandFaculty of Electrical Engineering, Częstochowa University of Technology, 17 Armii Krajowej Avenue, 42-201 Częstochowa, PolandThe article presents the research on navigation algorithms of a wheeled mobile robot with the use of a vision mapping system and the analysis of energy consumption of selected navigation algorithms, such as RRT and A-star. Obstacle maps were made with the use of an RGBW camera, and binary occupation maps were also made, which were used to determine the traffic path. To recreate the routes in hardware, a programmed Pure Pursuit controller was used. The results of navigation were compared on the basis of the forward kinematics model and odometry measurements. Quantities such as current, except (x, y, phi), and linear and angular velocities were measured in real time. As a result of the conducted research, it was found that the RRT star algorithm consumes the least energy to reach the designated target in the designated environment.https://www.mdpi.com/1996-1073/16/3/1532wheeled mobile robotrobotic navigationenergy consumption analysismappingenergy |
| spellingShingle | Adam Rapalski Sebastian Dudzik Energy Consumption Analysis of the Selected Navigation Algorithms for Wheeled Mobile Robots Energies wheeled mobile robot robotic navigation energy consumption analysis mapping energy |
| title | Energy Consumption Analysis of the Selected Navigation Algorithms for Wheeled Mobile Robots |
| title_full | Energy Consumption Analysis of the Selected Navigation Algorithms for Wheeled Mobile Robots |
| title_fullStr | Energy Consumption Analysis of the Selected Navigation Algorithms for Wheeled Mobile Robots |
| title_full_unstemmed | Energy Consumption Analysis of the Selected Navigation Algorithms for Wheeled Mobile Robots |
| title_short | Energy Consumption Analysis of the Selected Navigation Algorithms for Wheeled Mobile Robots |
| title_sort | energy consumption analysis of the selected navigation algorithms for wheeled mobile robots |
| topic | wheeled mobile robot robotic navigation energy consumption analysis mapping energy |
| url | https://www.mdpi.com/1996-1073/16/3/1532 |
| work_keys_str_mv | AT adamrapalski energyconsumptionanalysisoftheselectednavigationalgorithmsforwheeledmobilerobots AT sebastiandudzik energyconsumptionanalysisoftheselectednavigationalgorithmsforwheeledmobilerobots |