Purpose

As wheeled mobile robots find increasing use in outdoor applications, it becomes more important to reduce energy consumption to perform more missions efficiently with limit energy supply. The purpose of this paper is to survey the current state-of-the-art on energy-efficient motion planning (EEMP) for wheeled mobile robots.

Design/methodology/approach

The use of wheeled mobile robots has been increased to replace humans in performing risky missions in outdoor applications, and the requirement of motion planning with efficient energy consumption is necessary. This study analyses a lot of motion planning technologies in terms of energy efficiency for wheeled mobile robots from 2000 to present. The dynamic constraints play a key role in EEMP problem, which derive the power model related to energy consumption. The surveyed approaches differ in the used steering mechanisms for wheeled mobile robots, in assumptions on the structure of the environment and in computational requirements. The comparison among different EEMP methods is proposed in optimal, computation time and completeness.

Findings

According to lots of literature in EEMP problem, the research results can be roughly divided into online real-time optimization and offline optimization. The energy consumption is considered during online real-time optimization, which is computationally expensive and time-consuming. The energy consumption model is used to evaluate the candidate motions offline and to obtain the optimal energy consumption motion. Sometimes, this optimization method may cause local minimal problem and even fail to track. Therefore, integrating the energy consumption model into the online motion planning will be the research trend of EEMP problem, and more comprehensive approach to EEMP problem is presented.

Research limitations/implications

EEMP is closely related to robot’s dynamic constraints. This paper mainly surveyed in EEMP problem for differential steered, Ackermann-steered, skid-steered and omni-directional steered robots. Other steering mechanisms of wheeled mobile robots are not discussed in this study.

Practical implications

The survey of performance of various EEMP serves as a reference for robots with different steering mechanisms using in special scenarios.

Originality/value

This paper analyses a lot of motion planning technologies in terms of energy efficiency for wheeled mobile robots from 2000 to present.

中文翻译：

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轮式移动机器人的节能运动规划研究

目的

随着轮式移动机器人在户外应用中的使用越来越多，减少能耗以在有限的能源供应下有效执行更多任务变得越来越重要。本文的目的是调查有关轮式移动机器人的节能运动计划（EEMP）的最新技术。

设计/方法/方法

在户外应用中，轮式移动机器人的使用已越来越多，以代替人类执行危险任务，并且对运动计划进行有效能耗的需求是必要的。这项研究从2000年至今的轮式移动机器人的能效方面分析了许多运动计划技术。动态约束在EEMP问题中起着关键作用，该问题推导了与能耗有关的功率模型。所调查的方法在轮式移动机器人使用的转向机构，环境结构的假设和计算要求方面有所不同。在优化，计算时间和完整性方面提出了不同EEMP方法之间的比较。

发现

根据有关EEMP问题的大量文献，研究结果可大致分为在线实时优化和离线优化。在线实时优化过程中会考虑能耗，这在计算上既昂贵又耗时。能耗模型用于离线评估候选运动并获得最佳能耗运动。有时，此优化方法可能会导致局部最小问题，甚至无法跟踪。因此，将能耗模型集成到在线运动计划中将成为EEMP问题的研究趋势，并提出了更全面的EEMP问题解决方案。

研究局限/意义

EEMP与机器人的动态约束密切相关。本文主要针对差分转向，阿克曼转向，滑移转向和全向转向机器人的EEMP问题进行了调查。本研究未讨论轮式移动机器人的其他转向机制。

实际影响

各种EEMP的性能调查可作为在特殊情况下使用具有不同转向机制的机器人的参考。

创意/价值

本文从2000年至今的轮式移动机器人的能效方面分析了许多运动计划技术。