Power considerations for MAST platforms

Abstract

Scaling down autonomous robotic systems introduces numerous challenges in mechanical design, electrical/sensor subsystems, and autonomous control. One particularly daunting task is the design of the power system, since this will ultimately limit all microrobot or micro-UAV's operations. Power sources like lithium polymer batteries possess sufficient power density for basic mobility (walking, fixed wing flight, flapping/hovering), but improved power sources are needed that offer increased energy density in order to extend mission lifetimes - preferably pushing from minutes to multiple hours or days. Additionally, the source power must be efficiently converted and distributed to the various microrobot subsystems. Each system may require a different voltage, current, and duty cycle. This paper will review some of the power-specific challenges related to developing small, mobile autonomous systems.