Energy Consumption Analysis of the Selected Navigation Algorithms for Wheeled Mobile Robots

摘要

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.