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Energy Efficient Dynamic Window Approach for Local Path Planning in Mobile Service Robotics

: Henkel, Christian; Bubeck, Alexander; Xu, Weilang


IFAC-PapersOnLine 49 (2016), No.15, pp.32-37
ISSN: 2405-8963
ISSN: 1474-6670
Journal Article
Fraunhofer IPA ()
Ressourceneffizienz; Navigation; Energieeffizienz; maschinelles Lernen

An energy efficient local path planner for navigation of omnidirectional battery-powered mobile robots in dynamic environments is presented in this paper. The proposed algorithm extends the Dynamic Window Approach (DWA) to incorporate a cost function based on energy consumption. The estimated energy consumption during planning is predicted using a linear regression model that is learned on the fly. Empirical results are presented on a mobile robot platform that show a 9.79% decrease in energy consumption in comparison to the DWA approach.