Autonomous Mobile Robot Power Management System
The most important part of an autonomous mobile robot is its power management in order to avoid any deadlock. A system was developed to identify the time when the autonomous mobile robot needed to return for battery recharge through an alarm of the battery error detection. The design of this sy...
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| Main Author: | |
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| Format: | Thesis |
| Language: | English English |
| Published: |
1999
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| Subjects: | |
| Online Access: | http://psasir.upm.edu.my/id/eprint/10323/1/FK_1999_29_A.pdf |
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| Summary: | The most important part of an autonomous mobile robot is
its power management in order to avoid any deadlock. A system
was developed to identify the time when the autonomous mobile
robot needed to return for battery recharge through an alarm of the
battery error detection.
The design of this system is a car-like mobile robot with two
front steering wheels and two rear driving wheels. The steering gear
motor turns the entire front-wheel assembly a number of degrees to
the left or right of the straight-ahead. The drive motor is mounted to one of the rear wheels and both rear wheels are fixed to the rear
axle. The gear motor can drive both of them at the same time. This
mobile robot is kinematically constrained body, which can be
modelled as a 2D object translating and rotating in the horizontal
plane.
The discharge parameters are the battery voltage and the
battery capacity. The values of these two discharge parameters are
function of the battery suitability to the load. Using a
microcontroller-based circuit with current and temperature sensors
did achieve the battery management process. The battery
temperature and voltage sensors provide information for the
changed battery status. The current sensor monitors the current
delivered from the battery during the discharge time. From
identifying the value of the current, the applied load to the mobile
robot can be known. From the sensed current the system can
generate a suitable countdown time to estimate the remaining
battery lifetime under load. The time is updated as the load is
changed. |
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