Power System and Drive-Train for Omni-Directional Autonomous Mobile Robots with Multiple Energy Storage Units
作者： Atsushi Sanada , Amir A.F Nassiraei , Kazuo Ishii , Ahmad Ghaderi , Ivan Godler
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摘要: 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 soccer robots, the ability of flow control from separated speed each motor combined, these can be derived by more than one source. This capability, allow robot to diversify its source employing hybrid sources. research Lithium ion polymer batteries have been used main auxiliary because their high densities. And protect them against deep discharge, over current short circuit, a protection circuit was designed. The other parts our DC-DC converters kicker circuit. simulation experimental results show scheme extracted equations valid management achieved properly using method. filed experiments mobility functions perform requested motion enough it has maneuverability field.
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