Energy Management Techniques in Mobile Robots
Today, the developing features of technological tools with limited energy resources have made it necessary to use energy efficiently. Energy management techniques have emerged for this purpose. As with every field, energy management is vital for robots that are being used in many areas from industry to daily life and that are thought to take up more spaces in the future. Particularly, effective power management in autonomous and multi robots, which are getting more complicated and increasing day by day, will improve the performance and success. In this study, robot management algorithms, usage of renewable and hybrid energy sources, robot motion patterns, robot designs, sharing strategies of workloads in multiple robots, road and mission planning algorithms are discussed for efficient use of energy resources by mobile robots. These techniques have been evaluated in terms of efficient use of existing energy resources and energy management in robots.
Digital Object Identifier (DOI): doi.org/10.5281/zenodo.1315701Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 613
 A. Albayrak, “Simulation and Control of a Five-Axis Robot Arm”, Gazi University, Institute of Science and Technology, Master Thesis, 2007.
 I Ozyalcin, “Cartesian Robot Design”, Mustafa Kemal University, Institute of Science and Technology, Master Thesis, 2006.
 M.Albayrak, U. Albayrak, “Development of KHR-1 Movement Teaching Software on Two-legged Robot Mechanics”, c. 2006, sayı 4, ss. 59–64, 2006.
 L. Siciliano, B;Sciavicco, L;Villani, “Robotics, Modelling, Planning and Control”, 1920.
 K. O. Yapıcı, “14 Control of Dynamic Walking Motion of a Two-Legged Robot with Degree of Freedom”, Istanbul Technical University, Institute of Science and Technology, Master Thesis, 2008.
 M. Camcı, “Robot-to-Sensor Network Positioning for Media Surveillance”, Istanbul Technical University, Institute of Science and Technology, Master Thesis, 2009.
 Ö. Cayirpinar, “Enhancing Search Efficiency by Using Robotic Communication and Collaboration in Multiple Robot Systems”, TOBB University of Economics and Technology, Institute of Science and Technology, Master Thesis, 2009.
 A. Mandow, A. Garcia, ve S. Pedraza, “Power Consumption Modeling of Skid-Steer Tracked Mobile Robots on Rigid Terrain Power Consumption Modeling of Skid-Steer Tracked Mobile Robots on Rigid Terrain”, June 2017, 2009.
 J. W. Raade, H. Kazerooni, ve T. G. Mcgee, “Analysis and Design of a Novel Power Supply for Mobile Robots”, April, ss. 4911–4917, 2004.
 O. Baghe, “Energy Supply System in Robotics Machines”, c. 1, sayı 6, ss. 219–226, 2014.
 H. Raposo ve H. Schiøler, “Potentially Distributable Energy: Towards Energy Autonomy in Large Population of Mobile Robots”.
 A. Ghaderi, A. A. F. Nassiraei, A. Sanada, K. Ishii, ve I. Godler, “Power System and Drive-Train for Omni-Directional Autonomous Mobile Robots with Multiple Energy Storage Units”, ss. 291–300.
 C. Wattanasin, Y. Aiyama, D. Kurabayashi, ve J. Ota, “Hybrid power supply for mobile robots Full paper Hybrid power supply for mobile robots”, c. 1864, sayı June, 2017.
 H. Ren ve H. L. Junseok, “Miniaturizing microbial fuel cells for potential portable power sources: promises and challenges”, ss. 353–381, 2012.
 A. Guerrero-gonzález, F. García-córdova, ve F. D. A. Ruz-vila, “A Solar Powered Autonomous Mobile Vehicle for Monitoring and Surveillance Missions of Long Duration”, c. xx, 2010.
 J. B. Siegel, Y. Wang, ve A. G. Stefanopoulou, “Comparison of SOFC and PEM Fuel Cell Hybrid Power Management Strategies for Mobile Robots”, 2015.
 K. Amundson, J. Raade, ve N. Harding, “Development of hybrid hydraulic – electric power units for field and service robots”, c. 20, sayı 9, ss. 1015–1034, 2006.
 M. Patil, T. Abukhalil, S. Patel, ve T. Sobh, “UB Robot Swarm Design, Implementation, and Power Management”, 2016.
 H. Joh, T. Jung, S. Youp, J. Kim, S. Chae, J. Hyung, J. Prabhuram, S. Kim, T. Lim, B. Cho, J. Oh, S. Heup, ve H. Yong, “A direct methanol fuel cell system to power a humanoid robot”, c. 195, ss. 293–298, 2010.
 U. Ugalde-olea, E. Technology, ve C. E. Practice, “Power consumption of robot joints could be 40 % less”, 2014.
 C. Arantes, J. S. Esteves, ve J. Sepúlveda, “A New Energetically Optimized Power Supply System for a Mobile Robot Platform, using Ultracapacitors and Batteries to Ensure Both Ultra-Fast Charging and Autonomy”, ss. 155–163, 2015.
 F. Ilichaud ve E. Kobichaud, “Sharing Charging Stations for Long-Term Activity”, ss. 2746–2751, 2002.
 T. Tsumura, “No Title”, Intelligents Robot. Syst., ss. 1477–1483, 1994.
 F. Y. Summary, “SUB subCULTron 1 st year: Three Species of”, c. 1, sayı April, 2016.
 J. Gao ve G. Yan, “A Novel Power Management Circuit Using a Super-Capacitor Array for Wireless Powered”, c. 22, sayı 3, ss. 1444–1455, 2017.
 A. Ghaderi, A. Sanada, A. A. F. Nassiraei, K. Ishii, ve I. Godler, “Power and Propulsion Systems Design for an Autonomous Omni-directional Mobile Robot”, ss. 267–272, 2008.
 C. Wang, H. Huang, ve S. Chen, “The PC-based graphic-user interface of the power management system on the security robot”, ss. 416–422, 2007.
 W. Zhang ve J. Hu, “Low Power Management for Autonomous Mobile Robots Using Optimal Control”, ss. 5364–5369, 2007.
 R. M. Organism, “Procedia Computer Science Dynamic Power Distribution and Energy Management in a”, c. 0, ss. 1–32, 2012.
 J. F. Roberts, J. Zufferey, D. F. Pre-print, ve P. Iros, “Energy Management for Indoor Hovering Robots”.
 D. Zorbas ve T. Razafindralambo, “Modeling the power consumption of a Wifibot and studying the role of communication cost in operation time”, ss. 1–14.
 S.Soyguder amd H. Alli, “Robotürk SA-2 Eight-legged Spider Robot Design and Supervision”.2005
 “Power consumption analysis of different hexapod robot gaits (MTR308-15) Dariusz Grzelczyk, B artosz Stańczyk, Jan Awrejcewicz”, ss. 197–206.
 R.Prasuraman,P. Pagala, K. Kershaw and M. Ferre,“Energy Management Module for Mobile Robots in Hostile Environments”2006.
 A. Kottas, A. Drenner, ve N. Papanikolopoulos, “Intelligent Power Management: Promoting Power-Consciousness in Teams of Mobile Robots”, ss. 1140–1145, 2009.
 M. Partovibakhsh ve G. Liu, “An Adaptive Unscented Kalman Filtering Approach for Online Estimation of Model Parameters and State-of-Charge of Lithium-Ion Batteries for Autonomous Mobile Robots”, c. 23, 1, ss. 357–363, 2015.
 P. Poonyapak, J. M. J. Mcdill, M. J. D. Hayes, ve A. Engineering, “Improving Robot Efficiency to Reduce Energy Consumption”.
 A. Amory, B. Meyer, T. Tosik, C. Osterloh, ve E. Maehle, “Towards Fault-Tolerant and Energy-Efficient Swarms of Underwater Robots”.
 K. Dowling, “Power Sources for Small Robots”, sayı January, 1997.
 “www.robotistan.com”. Available at: https://www.robotistan.com/guc-kaynagi-batarya. Date of access: 15.07.2017
 E. M. Yılmaz, “Implementation of control of waste batteries and accumulators in Istanbul province and suggestions for solution of difficulties”, 2010.
 S. T. August, “Efficient powering of a robot swarm”, 2016.
 L. Xie, Q. Qiao, and Z. Wang, “An Efficient Power Management System for Biped Robot”, ss. 2130–2135.
 G. Wang, Z. Dai, Y. Guan, P. Dong, ve L. Wu, “Power Management of Hybrid Power Systems with Li-Fe Batteries and Supercapacitors for Mobile Robots”, c. 2014, 2014.
 C. Sauzé ve M. Neal, “Artificial Endocrine Controller for Power Management in Robotic Systems”, c. 24, sayı 12, ss. 1973–1985, 2013.
 H. Wei, B. Wang, Y. Wang, Z. Shao, ve K. C. C. Chan, “Expert Systems with Applications Staying-alive path planning with energy optimization for mobile robots”, Expert Syst. Appl., c. 39, sayı 3, ss. 3559–3571, 2012.
 W. Zhang, Y. Lu, ve J. Hu, “Automatica Optimal solutions to a class of power management problems in mobile robots $”, Automatica, c. 45, sayı 4, ss. 989–996, 2009.
 O. Bartlett, C. Gurau, L. Marchegiani, ve I. Posner, “Enabling Intelligent Energy Management for Robots using Publicly Available Maps”.
 P. Matthias ve B. Martin, “Reducing the energy consumption of industrial robots in manufacturing systems”, ss. 1315–1328, 2015.
 G. Challenges, “Microscale and Nanoscale Robotics Systems”, sayı March, ss. 53–60, 2007.
 Ş. Z. Erdoğan, “Kendini Klonlayan Karınca Kolonisi Yaklaşımıyla Optimal Yolun Bulunması”, Trakya University, Institute of Science and Technology, PhD thesis, 2008.
 E. Koyuncu, “Probabilistic Motiaon Planning in Complex Environmets For Unmanned Aerial Vehicles Istanbul Technical University, Institute of Science and Technology, Master Thesis.
 Y. Xue, J. Yang, J. Shang, and Z. Wang, “Energy ef fi cient fl uid power in autonomous legged robotics based on bionic multi-stage energy supply”, c. 28, sayı 21, ss. 1445–1457, 2014.