Estudio de eficiencia energética: Análisis del comportamiento de los motores que accionan la plataforma por lo que se refiere a su consumo y estudio de las estrategias de control que permitan optimizar dicho consumo

The study focuses on energy consumption of two-wheeled nonholonomic mobile robot systems along a 2D trajectory. The consumption will be minimized creating a smooth path that passes by fixed points using interpolation ; the velocity and acceleration profiles will be monitored all along the path using apposite parameters at each waypoint. Three main issues will be carried out : the definition of the trajectory with all its compromises; the calculation of the robot energy consumption, taking into account many external forces; the choice of the right type of optimization process. The chosen solutions will be applied in a Matlab program using functions from “Robotics System Toolbox” and “Optimization Toolbox”