Autonomous Robot Turning Control Under Battery Power Limits
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Solution Overview
Problem
Autonomous travelling robots face trajectory deviation due to electric power restrictions on their batteries, especially during turning, leading to deviations from the target trajectory.
Innovation Solution
A control system that monitors battery power restrictions and adjusts the maximum turning speed and acceleration to be less than the maximum straight-running speed and acceleration, ensuring the robot follows the target trajectory by managing the rotation speed difference between drive wheels.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If the robot turns at maximum speed with minimum turning radius, then the turning efficiency is improved, but the trajectory deviation occurs due to electric power restriction
Solution Approach 1:
The control system dynamically adjusts the maximum turning speed based on real-time battery power levels. As battery charge decreases, the system automatically reduces the maximum turning speed to ensure the robot can complete the turn before power depletion, thereby maintaining trajectory accuracy while adapting to changing power conditions
Solution Approach 2:
The system changes the speed parameter adaptively based on battery state of charge. When battery power is sufficient, the robot operates at maximum turning speed for efficiency. When battery power drops below a threshold, the system reduces the maximum turning speed parameter to prevent trajectory deviation, thus resolving the contradiction between speed and trajectory accuracy
2Productivity
If the robot maintains maximum straight-running speed, then the productivity is improved, but the trajectory deviation occurs when battery power is restricted
Solution Approach 1:
The control system continuously monitors battery charge level and provides feedback to adjust speed commands. When the battery charge falls below a predetermined threshold, the feedback mechanism reduces the maximum straight-running speed to ensure the robot can reach the next charging point or complete its task, thereby maintaining trajectory accuracy while minimizing productivity loss
3Loss of time
If the robot operates with high power consumption, then the task completion speed is improved, but the battery life is reduced
Solution Approach 1:
The system implements periodic monitoring of battery charge levels and adjusts operating speed in periodic cycles. During high charge periods, the robot operates at maximum speed for rapid task completion. As charge depletes toward thresholds, the system transitions to lower speed operation, creating a periodic pattern of high-performance and energy-conserving modes that balances task completion speed with battery life extension
Data Source
AI summary
An autonomous travelling robot switches between a straight running and turning according to a rotation speed difference between a pair of drive wheels driven by individual electric actuators supplied electric power from a battery, along a target trajectory. The autonomous travelling robot is controlled by monitoring a running restriction that includes an electric power restriction of the battery; and restricting a maximum turning speed, which is a maximum speed when turning with a minimum turning radius, to be smaller than a maximum straight-running speed, which is a maximum speed when straight-running, according to an establishment of a condition in the running restriction.