Energy Profiling for Wheeled Mobile Robots with LuGre Friction Model in a Realistic Simulation Framework

摘要

Efficient energy management is vital for mobile robots' autonomy. It is essential for optimizing techniques like path planning and task scheduling. However, testing these approaches for diverse scenarios can be challenging, especially in large-scale environments with complex hardware requirements This paper introduces an energy estimation model considered for mobile robots with wheels, facilitating energy profiling within a simulator based on ROS/Gazebo, eliminating the necessity for tangible hardware The design of this model aims to compute energy consumption related to kinetic energy transformation and the overcoming of robot friction. Notably, only a limited number of researchers have utilized advanced robot simulation software to analyze energy consumption, often relying on static friction models. In contrast, our energy model incorporates an advanced dynamic friction model, the LuGre model, to offer a more precise assessment of power consumption attributed to friction.