A simple drive load-balancing technique for multi-wheeled planetary rovers

James C. Finnis*, Mark Neal

*Awdur cyfatebol y gwaith hwn

Allbwn ymchwil: Pennod mewn Llyfr/Adroddiad/Trafodion CynhadleddTrafodion Cynhadledd (Nid-Cyfnodolyn fathau)

Crynodeb

A simple method for balancing the motor driver load across a six-wheeled rover is presented. This method uses the concept of inflammation to model the load on each motor driver by its temperature, decreasing the load as the local temperature increases. The method is compared with both the base case, where all motors run at a fixed load; and a relatively unintelligent method involving shutting off all motors while the temperature is above a given level. We show that load balancing in this manner has the beneficial effect of avoiding overheating in individual motors, while neither overly decreasing the traversed distance nor increasing the energy used.

Iaith wreiddiolSaesneg
TeitlTowards Autonomous Robotic Systems - 14th Annual Conference, TAROS 2013, Revised Selected Papers
GolygyddionAshutosh Natraj, Stephen Cameron, Chris Melhuish, Mark Witkowski
CyhoeddwrSpringer Nature
Tudalennau247-258
Nifer y tudalennau12
ISBN (Argraffiad)9783662436448, 3662436442
Dynodwyr Gwrthrych Digidol (DOIs)
StatwsCyhoeddwyd - 15 Gorff 2014
Digwyddiad14th Annual Conference on Towards Autonomous Robotic Systems, TAROS 2013 - Oxford, Teyrnas Unedig Prydain Fawr a Gogledd Iwerddon
Hyd: 28 Awst 201330 Awst 2013

Cyfres gyhoeddiadau

EnwLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Cyfrol8069 LNAI
ISSN (Argraffiad)0302-9743
ISSN (Electronig)1611-3349

Cynhadledd

Cynhadledd14th Annual Conference on Towards Autonomous Robotic Systems, TAROS 2013
Gwlad/TiriogaethTeyrnas Unedig Prydain Fawr a Gogledd Iwerddon
DinasOxford
Cyfnod28 Awst 201330 Awst 2013

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