Energy-Effcient Scheduling for Autonomous Mobile Robots

An autonomous robot has to sense its environment and prevent collision. Stereovision is a widely used technology for distance calculation and collision prevention. While a robot is moving, it has to detect an obstacle before a collision. This result in a real-time constraint and it may be adjusted b...

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Bibliographic Details
Published in2006 IFIP International Conference on Very Large Scale Integration pp. 361 - 366
Main Authors Brateman, J., Changjiu Xian, Yung-Hsiang Lu
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.10.2006
Subjects
Acceleration
Computer displays
Energy conservation
Energy consumption
Frequency
Mobile robots
Processor scheduling
Real time systems
Robot sensing systems
Voltage
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Summary:An autonomous robot has to sense its environment and prevent collision. Stereovision is a widely used technology for distance calculation and collision prevention. While a robot is moving, it has to detect an obstacle before a collision. This result in a real-time constraint and it may be adjusted by slowing down the motor. Since mobile robots usually carry limited energy, energy conservation is crucial. Stereovision requires substantial amounts of computation and causes much energy consumption. This paper presents a new approach for energy conservation for a mobile robot. We consider the energy consumed by both the on-board processor and the motor. Our method controls both the processor's frequency and the motor's speed to reduce energy while preventing collision. We formulate the problem as non-linear optimization and demonstrate that more energy can be saved by adjusting both the frequency and the speed simultaneously
ISBN:3901882197
9783901882197
ISSN:2324-8432
DOI:10.1109/VLSISOC.2006.313262