ENERGY-EFFICIENT CONTROL OF A WHEELED MOBILE ROBOTIC PLATFORM DURING ACCELERATION

Abstract

The problem of improving the energy efficiency of the control system of a wheeled mobile robotic platform during the transient acceleration mode is considered. It is proposed to determine the optimal law of voltage variation applied to the drive motors b y means of computer analysis of the set of admissible controls. A functional associated with the required supplied energy or power is used as the optimization criterion. The possibility of simultaneously ensuring the specified final velocity and reducing the energy consumption of the drive system is demonstrated.