Energy Management for Medical Rescue Robot

Abstract

This paper mainly centers on the energy management of the medical rescue mobile robot with different payloads in the uncertain road conditions. Efficient energy usage is a crucial issue because energy consumption will increase with the application and expansion of robotics. The power consumption of the robot system is affected by the task and its operating environment. This paper designs a six-wheel-drive medical rescue mobile robot using a hybrid system. Aiming at the wheel driving conditions of mobile robots, a power-adaptation control strategy is proposed, and its structure and driving form is introduced. Firstly, based on a power-adaptation control strategy, a nonlinear model predictive control (NMPC) algorithm is proposed to optimize the power adaptive control strategy. Non-linear model predictive control uses a non-linear model to represent the medical rescue robot model and external characteristic constraints. Secondly, the AVL CRUISE module is used to build a dynamic model of a medical rescue mobile robot, and it is jointly simulated with MATLAB/Simulink to simulate the energy consumption of a medical rescue robot under Urban Driving Cycle (UDC) standard operating conditions. Finally, the NMPC method is used to solve the system and compared with the power-adaptation control strategy. The simulation results show that compared with the power adaptive control strategy, the fuel consumption of combustion engine of the NMPC is improved by 26.4%.