Energy-Aware Path Planning for Skid-Steer Robots Operating on Hilly Terrain

This paper presents an optimized approach to planning energy-aware paths for skid-steer vehicles during elevation changes. Specifically, this work expands upon a previously presented power model by including the effect of elevation changes on the energy usage of the robot. The total power needed to travel to a goal location is then combined with an instantaneous center of rotation (ICR) kinematic model to plan energy-aware paths using a Sampling Based Model Predictive Optimization (SBMPO) algorithm. This method is demonstrated using a simulated environment with a wide range of varying scenarios representative of real-world usages. The results show that, in some hilly cases, it is more energy efficient to take a longer path when operating skid-steer robots on mixed terrain. These results are intended to improve the accuracy of energy consumption models for robotics.

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Work Title Energy-Aware Path Planning for Skid-Steer Robots Operating on Hilly Terrain
Open Access
  1. Veronica Gruning
  2. Jesse Pentzer
  3. Sean Brennan
  4. Karl Reichard
License In Copyright (Rights Reserved)
Work Type Article
  1. IEEE
Publication Date July 2020
Publisher Identifier (DOI)
  1. 10.23919/ACC45564.2020.9147470
  1. 2020 American Control Conference (ACC)
Deposited September 09, 2021




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Work History

Version 1

  • Created
  • Added Gruning_ACC_2020_Energy Aware Path Planning-1.pdf
  • Added Creator Veronica Gruning
  • Added Creator Jesse Pentzer
  • Added Creator Sean Brennan
  • Added Creator Karl Reichard
  • Published
  • Updated
  • Updated