Gaudreau, M.-A.

Kelouwani, S.

Mohammadpour, M.

Dépôt numérique de UQTR

MethodologyIntroductionEvaluation of energy consumption of a self-guided vehicle in obstacle avoidance situation (Human vs the DWA method)M. Mohammadpour, S. Kelouwani, M-A. Gaudreau• According to figure of power consumptionprofiles, there are more frequent changesin DWA method. They have been executedbecause of the sudden reaction of the SGVin response to unforeseen obstacles.• Although the time of each test has takenless than 22 seconds, the energyconsumptions of human controls are lessthan DWA.• Results prove that the type of SGVreaction can affect energy consumptionenormously and the energy constraintmust be considered.• In the following, the energy model of SGVwill be added to motion planningalgorithm as a new constraint to achievean energy-efficient obstacle avoidancemethod.Self-Guided VehiclesExperiment ResultsPatle, B., et al., A review: On path planningstrategies for navigation of mobile robot. DefenceTechnology, 2019.SGV trajectories in 3 scenariosTest environmentSGVObstacle AvoidanceSGV power consumption in 3 scenariosResults of experimental testsConclusion and perspectiveReferencesThis work was supported in part by the IndustrialResearch Chair Noovelia and by the NaturalScience and Engineering Research Council ofCanada.AcknowledgmentTwo used methods to show the effect ofobstacle avoidance problem on energyconsumption of SGV:Dynamic WindowApproach (DWA)Manual controller3 unforeseen static obstacles 2 unforeseen dynamic obstacles 2 unforeseen static obstacles and 1 unforeseen dynamic obstacle 3 ScenariosiiiiiiSelf-Guided Vehicles (SGVs) are important part of smart factories. Themain task of SGVs is transportation of the production chain. However, theyhave some restrictions:1) Their only energy sources are battery packs that are carried by them2) Limited time of energy for long time missions3) Charging or changing their sources while doing tasks are time-wastingObstacle avoidance is another problem for SGV. It must considerchanges in environment to avoid unforeseen obstacles such as humanand robot. Since static and dynamic obstacles can populate thenavigation environment, the selection of an appropriate obstacleavoidance function is essential in motion planning.

Evaluation of energy consumption of a self-guided vehicle in obstacle avoidance situation (Human vs the DWA method)

http://depot-e.uqtr.ca/10108/1/MohammadMohammadpour_Poster.pdf

Evaluation of energy consumption of a self-guided vehicle in obstacle avoidance situation (Human vs the DWA method)

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