Location via proxy:   [ UP ]  
[Report a bug]   [Manage cookies]                
Skip to main content

Advertisement

SpringerLink
Log in

Power Characterization of a Skid-Steered Mobile Field Robot with an Application to Headland Turn Optimization

  • Published:
Journal of Intelligent & Robotic Systems Aims and scope Submit manuscript

    We’re sorry, something doesn't seem to be working properly.

    Please try refreshing the page. If that doesn't work, please contact support so we can address the problem.

Abstract

Skid-steered platforms are in use for many different purposes, including demining, military, construction and agriculture. Their power consumption varies considerably with the maneuver they are performing, depending heavily on its radius of curvature. Therefore, efficient operation of skid-steered platforms for any purpose requires proper path planning based on a mathematical model of their power consumption. With this fact in mind, this paper studies the power consumption characterization of skid-steered vehicles and presents a method based on physical principles to estimate friction on arbitrary surfaces, and then derives a mathematical model of friction in skid-steered platforms, showing that friction in such platforms depends on the radius of curvature and slip angles of the wheels. Afterwards, the derived model is used to show the optimum type of Π turns using a skid-steered platform in a coverage path planning scenario. The proposed friction model, as well as its forecast on the optimum Π turn, are verified using both indoor and outdoor field data.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Subscribe and save

Springer+ Basic
$34.99 /Month
  • Get 10 units per month
  • Download Article/Chapter or eBook
  • 1 Unit = 1 Article or 1 Chapter
  • Cancel anytime
Subscribe now

Buy Now

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Similar content being viewed by others

Explore related subjects

Discover the latest articles, news and stories from top researchers in related subjects.

References

  1. Acar, E., Choset, H., Rizzi, A., Atkar, P., Hull, D.: Morse decompositions for coverage tasks. Int. J. Robot. Res. 21(4), 331–344 (2002)

    Article  Google Scholar 

  2. Backman, J., Piirainen, P., Oksanen, T.: Smooth turning path generation for agricultural vehicles in headlands. Biosyst. Eng. 139, 76–86 (2015)

    Article  Google Scholar 

  3. Berenz, V., Tanaka, F., Suzuki, K.: Autonomous battery management for mobile robots based on risk and gain assessment. Artif. Intell. Rev. 37(3), 217–237 (2012)

    Article  Google Scholar 

  4. Bochtis, D., Vougioukas, S.: Minimising the non-working distance travelled by machines operating in a headland field pattern. Biosyst. Eng. 101(1), 1–12 (2008)

    Article  Google Scholar 

  5. Brateman, J., Xian, C., Lu, Y.H.: Energy-Effcient scheduling for autonomous mobile robots. In: 2006 IFIP international conference on very large scale integration, pp. 361–366 (2006)

  6. Broderick, J.A., Tilbury, D.M., Atkins, E.M.: Characterizing energy usage of a commercially available ground robot: method and results. J. Field Rob. 31(3), 441–454 (2014)

    Article  Google Scholar 

  7. Cariou, C., Lenain, R., Thuilot, B., Martinet, P.: Motion planner and lateral-longitudinal controllers for autonomous maneuvers of a farm vehicle in headland. In: 2009 IEEE/RSJ international conference on intelligent robots and systems, pp. 5782–5787 (2009)

  8. Chuy, O., Collins, E.G.J., Yu, W., Ordonez, C.: Power modeling of a skid steered wheeled robotic ground vehicle. In: 2009. ICRA ’09. IEEE international conference on robotics and automation, pp. 4118–4123 (2009)

  9. Dogru, S., Marques, L.: Energy efficient coverage path planning for autonomous mobile robots on 3D terrain. In: 2015 IEEE international conference on autonomous robot systems and competitions (ICARSC), pp. 118–123. IEEE, Piscataway (2015)

  10. Dogru, S., Marques, L.: Power characterization of a skid-steered mobile field robot. In: 2016 international conference on autonomous robot systems and competitions (ICARSC), pp. 15–20 (2016)

  11. Gabriely, Y., Rimon, E.: Spiral-STC: an On-Line coverage algorithm of grid environments by a mobile robot. In: Proceedings. ICRA ’02. IEEE international conference on robotics and automation, 2002, vol. 1, pp. 954–960 (2002)

  12. Grosch, K.A.: The relation between the friction and visco-elastic properties of rubber. Proc. R. Soc. Lond. A Math. Phys. Sci. 274(1356), 21–39 (1963)

    Google Scholar 

  13. Guo, T., Peng, H.: A simplified skid-steering model for torque and power analysis of tracked small unmanned ground vehicles. In: American control conference (ACC), 2013, pp. 1106–1111 (2013)

  14. Hoogterp, F.B., Meldrum, W.R.: Differential torque steering for future combat vehicles. Tech. rep., SAE Technical Paper (1999)

  15. Jimenez, P.A., Shirinzadeh, B., Nicholson, A., Alici, G.: Optimal area covering using genetic algorithms. In: 2007 IEEE/ASME international conference on advanced intelligent mechatronics, pp. 1–5. IEEE, Piscataway (2007)

  16. Lorenz, B., Oh, Y.R., Nam, S.K., Jeon, S.H., Persson, B.N.J.: Rubber friction on road surfaces: Experiment and theory for low sliding speeds. J. Chem. Phys. 142(19), 194701 (2015)

    Article  Google Scholar 

  17. Maclaurin, B.: Comparing the steering performances of skid-and ackermann-steered vehicles. Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering 222(5), 739–756 (2008)

    Google Scholar 

  18. Mei, Y., Lu, Y.H., Hu, Y., Lee, C.: A case study of mobile robot’s energy consumption and conservation techniques. In: 2005. ICAR ’05. Proceedings., 12Th international conference on advanced robotics, pp. 492–497 (2005)

  19. Mei, Y., Lu, Y.H., Lee, C., Hu, Y.: Energy-Efficient mobile robot exploration. In: ICRA 2006. Proceedings 2006 IEEE international conference on robotics and automation, 2006, pp. 505–511 (2006)

  20. Meldrum, W.R., Hoogterp, F.B., Kovnat, A.R.: Modeling and simulation of a differential torque steered wheeled vehicle. Tech. rep., DTIC Document (1999)

  21. Morales, J., Martinez, J., Mandow, A., Garcia-Cerezo, A., Pedraza, S.: Power consumption modeling of skid-steer tracked mobile robots on rigid terrain. IEEE Trans. Robot. 25(5), 1098–1108 (2009)

    Article  Google Scholar 

  22. Morales, J., Martinez, J., Mandow, A., Pequeno-Boter, A., Garcia-Cerezo, A.: Simplified power consumption modeling and identification for wheeled skid-steer robotic vehicles on hard horizontal ground. In: 2010 IEEE/RSJ international conference on intelligent robots and systems (IROS), pp. 4769–4774 (2010)

  23. Parasuraman, R., Kershaw, K., Pagala, P., Ferre, M.: Model based on-line energy prediction system for semi-autonomous mobile robots. In: 2014 5Th international conference on intelligent systems, modelling and simulation (ISMS), pp. 411–416 (2014)

  24. Pentzer, J., Brennan, S., Reichard, K.: On-Line estimation of vehicle motion and power model parameters for skid-steer robot energy use prediction. In: American control conference (ACC), 2014, pp. 2786–2791 (2014)

  25. Prassler, E., Kosuge, K.: Domestic robots. In: Siciliano, B., Khatib, O. (eds.) Springer handbook of robotics, pp. 1253–1281. Springer, Berlin (2008)

  26. Reeds, J.A., Shepp, L.A.: Optimal paths for a car that goes both forwards and backwards. Pacific J. Math. 145(2), 367–393 (1990)

    Article  MathSciNet  Google Scholar 

  27. Ryu, S.W., Lee, Y.H., Kuc, T.Y., Ji, S.H., Moon, Y.S.: A search and coverage algorithm for mobile robot. In: 2011 8Th international conference on ubiquitous robots and ambient intelligence (URAI), pp. 815–821 (2011)

  28. Sadrpour, A., Jin, J., Ulsoy, A.: Mission energy prediction for unmanned ground vehicles. In: 2012 IEEE international conference on robotics and automation (ICRA), pp. 2229–2234 (2012)

  29. Sadrpour, A., Jin, J., Ulsoy, A.: Experimental validation of mission energy prediction model for unmanned ground vehicles. In: American control conference (ACC), 2013, pp. 5960–5965 (2013)

  30. Wei Yu, E.C., Chuy, O.: Dynamic modeling and power modeling of robotic skid-steered wheeled vehicles. In: Gacovski, D.Z. (ed.) Mobile robots - current trends. INTECH Open Access Publisher (2011)

  31. Yang, S.X., Luo, C.: A neural network approach to complete coverage path planning. IEEE Trans. Syst. Man Cybern. Part B Cybern. 34(1), 718–724 (2004)

    Article  Google Scholar 

  32. Yu, W., Chuy, O., Collins, E.G.J., Hollis, P.: Analysis and experimental verification for dynamic modeling of a skid-steered wheeled vehicle. IEEE Trans. Robot. 26(2), 340–353 (2010)

    Article  Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Institute of Systems and Robotics, Department of Electrical and Computer Engineering, University of Coimbra, 3030-290, Coimbra, Portugal

    Sedat Dogru & Lino Marques

Authors
  1. Sedat Dogru
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Lino Marques
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Sedat Dogru.

Additional information

This work was partially carried out in the framework of TIRAMISU (www.fp7-tiramisu.eu). This project was funded by the European Community’s Seventh Framework Program (FP7/SEC/284747).

Rights and permissions

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Dogru, S., Marques, L. Power Characterization of a Skid-Steered Mobile Field Robot with an Application to Headland Turn Optimization. J Intell Robot Syst 93, 601–615 (2019). https://doi.org/10.1007/s10846-017-0771-7

Download citation

  • Received:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s10846-017-0771-7

Keywords

Search

Navigation