Power System and Drive-Train for Omni-Directional Autonomous Mobile Robots with Multiple Energy Storage Units

In this paper power system and drive-train for omni-directional autonomous mobile robots with multiple energy storage units are presented. Because in proposed system, which is implemented in soccer robots, the ability of power flow control from of multiple separated energy storage units and speed control for each motor are combined, these robots can be derived by more than one power source. This capability, allow robot to diversify its energy source by employing hybrid power sources. In this research Lithium ion polymer batteries have been used for main and auxiliary energy storage units because of their high power and energy densities. And to protect them against deep discharge, over current and short circuit, a protection circuit was designed. The other parts of our robot power system are DC-DC converters and kicker circuit. The simulation and experimental results show proposed scheme and extracted equations are valid and energy management and speed control can be achieved properly using this method. The filed experiments show robot mobility functions to perform the requested motion is enough and it has a high maneuverability in the field.

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Cite this article

[IEEE Style]

A. Ghaderi, A. A. Nassiraei, A. Sanada, K. Ishii, I. Godler, "Power System and Drive-Train for Omni-Directional Autonomous Mobile Robots with Multiple Energy Storage Units," Journal of Power Electronics, vol. 8, no. 4, pp. 291-300, 2008. DOI: 10.6113/JPE.2008.8.4.291.

[ACM Style]

Ahmad Ghaderi, Amir A.F Nassiraei, Atsushi Sanada, Kazuo Ishii, and Ivan Godler. 2008. Power System and Drive-Train for Omni-Directional Autonomous Mobile Robots with Multiple Energy Storage Units. Journal of Power Electronics, 8, 4, (2008), 291-300. DOI: 10.6113/JPE.2008.8.4.291.