A Novel, Energy-Efficient Smart Speed Adaptation Based on the Gini Coefficient in Autonomous Mobile Robots

摘要

Using energy efficiently is an important parameter in mobile robots. The majority of the energy consumption takes place in the motors. As such, past studies have investigated how to reduce the usage time of motors. Although the relationship between task energy and speed energy is considered in these studies, the qualification of the task, the amount of energy used, and the speed relation have not been taken into account as a whole. Parameters that affect each other in determining the speed profile, such as the criteria by which energy saving is determined, the maximum speed limit, acceleration, the load, and the ground relation, have not been taken into account holistically. Another research focus concerns the need to distribute energy in a balanced manner, in accordance with the qualification of the task, and to ensure the movement occurs at the optimum speed. In this study, a new dynamic (online) intelligent speed and acceleration adaptation method, based on the task structure and energy balance, was developed for a specific path that overcomes the shortcomings of existing models. The Gini coefficient was used for the balanced distribution of energy. Sharp speed changes were prevented with the remaining path and the balanced distribution of the remaining energy. The current model is compared with the trapezoidal speed profile structure.