Energy-efficient motion planning for mobile robots

This paper presents a new approach to find energy-efficient motion plans for mobile robots. Motion planning has two goals: finding the routes and determining the velocities. We model the relationship of motors´ speed and their power consumption with polynomials. The velocity of the robot is related to its wheels´ velocities by performing a linear transformation. We compare the energy consumption of different routes at different velocities and consider the energy consumed for acceleration and turns. We use experiment-validated simulation to demonstrate up to 51% energy savings for searching an open area.