Energy-Effcient Scheduling for Autonomous Mobile Robots
Energy-Effcient Scheduling for Autonomous Mobile Robots
复制标题
自主移动机器人的节能调度
DOI：
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发表时间：
2006
期刊：
影响因子：
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通讯作者：
Yung
中科院分区：
文献类型：
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作者：
J. Brateman;C. Xian;Yung
自主机器人必须感知环境并防止碰撞。立体视觉是一种广泛应用于距离计算和碰撞预防的技术。当机器人移动时，它必须在碰撞前检测到障碍物。这导致实时约束，并且可以通过减慢电机来调整。由于移动的机器人通常携带有限的能量，节能是至关重要的。立体视觉需要大量的计算，并导致大量的能量消耗。提出了一种新的移动的机器人节能方法。我们考虑了板载处理器和电机消耗的能量。我们的方法控制处理器的频率和电机的速度，以减少能量，同时防止碰撞。我们将问题表述为非线性优化，并证明了通过同时调整频率和速度可以节省更多的能量
An autonomous robot has to sense its environment and prevent collision. Stereovision is a widely used technology for distance calculation and collision prevention. While a robot is moving, it has to detect an obstacle before a collision. This result in a real-time constraint and it may be adjusted by slowing down the motor. Since mobile robots usually carry limited energy, energy conservation is crucial. Stereovision requires substantial amounts of computation and causes much energy consumption. This paper presents a new approach for energy conservation for a mobile robot. We consider the energy consumed by both the on-board processor and the motor. Our method controls both the processor's frequency and the motor's speed to reduce energy while preventing collision. We formulate the problem as non-linear optimization and demonstrate that more energy can be saved by adjusting both the frequency and the speed simultaneously