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Energy Efficiency Analysis of Differential and Omnidirectional Robotic Platforms: A Comparative Study

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Synergetic Cooperation Between Robots and Humans (CLAWAR 2023)

Part of the book series: Lecture Notes in Networks and Systems ((LNNS,volume 810))

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Abstract

As robots have limited power sources. Energy optimization is essential to ensure an extension for their operating periods without needing to be recharged, thus maximizing their uptime and minimizing their running costs. This paper compares the energy consumption of different mobile robotic platforms, including differential, omnidirectional 3-wheel, omnidirectional 4-wheel, and Mecanum platforms. The comparison is based on the RobotAtFactory 4.0 competition that typically takes place during the Portuguese Robotics Open. The energy consumption from the batteries for each platform is recorded and compared. The experiments were conducted in a validated simulation environment with dynamic and friction models to ensure that the platforms operated at similar speeds and accelerations and through a 5200 mAh battery simulation. Overall, this study provides valuable information on the energy consumption of different mobile robotic platforms. Among other findings, differential robots are the most energy-efficient robots, while 4-wheel omnidirectional robots may offer a good balance between energy efficiency and maneuverability.

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Acknowledgment

The authors are grateful to the Foundation for Science and Technology (FCT, Portugal) for financial support through national funds FCT/MCTES (PIDDAC) to CeDRI (UIDB/05757/2020) and (UIDP/05757/2020) and SusTEC (LA/P/0007 /2021). The project that gave rise to these results received the support of a fellowship from “la Caixa” Foundation (ID 100010434). The fellowship code is LCF/BQ/DI20/11780028. The authors also would like to thank CEFET/RJ and the Brazilian research agencies CAPES, CNPq, and FAPERJ. Arezki A. Chellal is grateful to the FCT Foundation for its support through the FCT PhD scholarship with reference UI/BD/154484/2022.

Author information

Authors and Affiliations

  1. Research Centre in Digitalization and Intelligent Robotics CeDRI, Instituto Politécnico de Bragança, 5300-252, Braganza, Portugal

    Arezki Abderrahim Chellal, João Braun, Milena Faria, Rebeca B. Kalbermatter, José Gonçalves & José Lima

  2. Laboratório para a Sustentabilidade e Tecnologia em Regiões de Montanha SusTEC, Instituto Politécnico de Bragança, 5300-252, Braganza, Portugal

    Arezki Abderrahim Chellal, João Braun, Rebeca B. Kalbermatter, José Gonçalves & José Lima

  3. Robotics and Intelligent Systems Research Group INESC TEC, 4200-465, Porto, Portugal

    João Braun, José Gonçalves, Paulo Costa & José Lima

  4. FEUP—Faculty of Engineering, University of Porto, Rua Dr. Roberto Frias, 4200-465, Porto, Portugal

    João Braun & Paulo Costa

  5. Universidade de Trás-os-Montes e Alto Douro UTAD, 5000-801, Vila Real, Portugal

    Arezki Abderrahim Chellal & Rebeca B. Kalbermatter

  6. Centro Federal de Educação Tecnológica Celso Suckow da Fonseca CEFET/RJ, 20271-110, Rio de Janeiro, Brazil

    Milena Faria

  7. Federal University of Technology - Curitiba Campus, Curitiba, Brazil

    Luciano Bonzatto Junior

Authors
  1. Arezki Abderrahim Chellal
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  2. João Braun
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  3. Luciano Bonzatto Junior
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  4. Milena Faria
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  5. Rebeca B. Kalbermatter
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  6. José Gonçalves
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  7. Paulo Costa
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  8. José Lima
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Corresponding author

Correspondence to Arezki Abderrahim Chellal .

Editor information

Editors and Affiliations

  1. Universidade Federal de Santa Catarina, Blumenau, Santa Catarina, Brazil

    Ebrahim Samer El Youssef

  2. School of Engineering, London South Bank University, London, UK

    Mohammad Osman Tokhi

  3. School of Engineering, Polytechnic Institute of Porto, Porto, Portugal

    Manuel F. Silva

  4. Universidade Federal de Santa Catarina, Blumenau, Santa Catarina, Brazil

    Leonardo Mejia Rincon

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© 2024 The Author(s), under exclusive license to Springer Nature Switzerland AG

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Chellal, A.A. et al. (2024). Energy Efficiency Analysis of Differential and Omnidirectional Robotic Platforms: A Comparative Study. In: Youssef, E.S.E., Tokhi, M.O., Silva, M.F., Rincon, L.M. (eds) Synergetic Cooperation Between Robots and Humans. CLAWAR 2023. Lecture Notes in Networks and Systems, vol 810. Springer, Cham. https://doi.org/10.1007/978-3-031-47269-5_12

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