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Mobile robots are increasingly being used to assist with active pursuit andlaw enforcement. One major limitation for such missions is the resource(battery) allocated to the robot. Factors like nature and agility of evader,terrain over which pursuit is being carried out, plausible traversal velocityand the amount of necessary data to be collected all influence how long therobot can last in the field and how far it can travel. In this paper, wedevelop an analytical model that analyzes the energy utilization for a varietyof components mounted on a robot to estimate the maximum operational rangeachievable by the robot operating on a single battery discharge. We categorizethe major consumers of energy as: 1.) ancillary robotic functions such ascomputation, communication, sensing etc., and 2.) maneuvering which involvespropulsion, steering etc. Both these consumers draw power from the common powersource but the achievable range is largely affected by the proportion of poweravailable for maneuvering. For this case study, we performed experiments withreal robots on planar and graded surfaces and evaluated the estimation errorfor each case.

Estimating Achievable Range of Ground Robots Operating on Single Battery Discharge for Operational Efficacy Amelioration