Abstract
In this paper a novel hybrid propulsion system for mobile robots is proposed. Because in this system the ability of power flow control from of multiple separated energy storage units and speed control for each motor are combined, this robot can be derived by hybrid power sources. This capability, allow robot to diversify its energy source by employing several energy storage units and energy sources. The simulation and experimental results show proposed scheme and extracted equations are valid and energy management and speed control can be achieved properly using this method. The filed experiments show robot mobility functions to perform the requested motion is enough and it has a high maneuverability in the field.
