回生エネルギーを考慮した移動ロボットの運動法に関する研究

抄録

If it is an autonomous mobile robot, its efficiency changes depending on its operation plan and motion plan. Since there is no need to consider the passenger's comfort, various operation methods can be considered. We simulated the change of energy consumption due to running resistance and gradient resistance using a dynamic model of a mobile robot including a regenerative circuit. As a result, energy consumption was reduced more than models that did not include a regenerative circuit. This paper reports that the size of the slope changes the path that can be traveled with the least energy.