Bond Graph based Power Consumption Estimation of a Non-holonomic Wheeled Mobile Robot with Multiple Driving Modes

Abstract

This paper presents a method for estimation of power consumption of a non-holonomic Wheeled Mobile Robot (WMR) using a graphical modeling approach called bond graph. The considered WMR is an over-actuated four wheeled robot and can have different driving modes based on its steering scheme. Therefore, the main contribution of this paper is to develop a model for the power consumption estimation considering three driving modes of the robot namely, skid, front, and dual steering. The model is validated through simulation and experiment.