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Energy Management for Medical Rescue Robot
- Source :
- ICARM
- Publication Year :
- 2020
- Publisher :
- IEEE, 2020.
-
Abstract
- This paper mainly centers on the energy management of the medical rescue mobile robot with different payloads in the uncertain road conditions. Efficient energy usage is a crucial issue because energy consumption will increase with the application and expansion of robotics. The power consumption of the robot system is affected by the task and its operating environment. This paper designs a six-wheel-drive medical rescue mobile robot using a hybrid system. Aiming at the wheel driving conditions of mobile robots, a power-adaptation control strategy is proposed, and its structure and driving form is introduced. Firstly, based on a power-adaptation control strategy, a nonlinear model predictive control (NMPC) algorithm is proposed to optimize the power adaptive control strategy. Non-linear model predictive control uses a non-linear model to represent the medical rescue robot model and external characteristic constraints. Secondly, the AVL CRUISE module is used to build a dynamic model of a medical rescue mobile robot, and it is jointly simulated with MATLAB/Simulink to simulate the energy consumption of a medical rescue robot under Urban Driving Cycle (UDC) standard operating conditions. Finally, the NMPC method is used to solve the system and compared with the power-adaptation control strategy. The simulation results show that compared with the power adaptive control strategy, the fuel consumption of combustion engine of the NMPC is improved by 26.4%.
- Subjects :
- Rescue robot
0209 industrial biotechnology
Adaptive control
Computer science
Energy management
business.industry
020208 electrical & electronic engineering
Mobile robot
Robotics
Control engineering
02 engineering and technology
Energy consumption
Model predictive control
020901 industrial engineering & automation
0202 electrical engineering, electronic engineering, information engineering
Artificial intelligence
business
Efficient energy use
Subjects
Details
- Database :
- OpenAIRE
- Journal :
- 2020 5th International Conference on Advanced Robotics and Mechatronics (ICARM)
- Accession number :
- edsair.doi...........6ca8b472339f85404cb0b84089bccfd3