Mixed Energy Model for a Differential Guide Mobile Robot Evaluated with Straight and Curvature Paths

Energy consumption is an important element in the autonomy of mobile robots, in any application in which the robot carries a source of finite energy. The formulation of an energy model can relate the kinematic movements of mobile robots and energy consumption. In this paper, an energy model is proposed, which takes into account the kinematic and dynamic models for a differential guide mobile robot as well as the motors, given an energy value close to the real energy consumption. The mixed energy model is tested with a typical motor energy model, and a trapezoidal velocity profile as input. The energy consumption values obtained by the mixed energy model is higher than the motor energy model, specially when the robot is in the acceleration phase. The mobile and motor parameters of the P3-DX robot are used to configure both energy models.