@inproceedings{f6e964e9740645d88b00e3945d8804bc,
title = "A simple drive load-balancing technique for multi-wheeled planetary rovers",
abstract = "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.",
keywords = "Inflammation, Load balancing, PID, Robot, Rover, Temperature",
author = "Finnis, {James C.} and Mark Neal",
year = "2014",
month = jul,
day = "15",
doi = "10.1007/978-3-662-43645-5_25",
language = "English",
isbn = "9783662436448",
series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",
publisher = "Springer Nature",
pages = "247--258",
editor = "Ashutosh Natraj and Stephen Cameron and Chris Melhuish and Mark Witkowski",
booktitle = "Towards Autonomous Robotic Systems - 14th Annual Conference, TAROS 2013, Revised Selected Papers",
address = "Switzerland",
note = "14th Annual Conference on Towards Autonomous Robotic Systems, TAROS 2013 ; Conference date: 28-08-2013 Through 30-08-2013",
}