Publications Scientifiques

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Author: search.filters.author.Benazzouz, DjamelSubject: search.filters.subject.Modelling

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    Mobile robot energy modelling integrated into ros and gazebo-based simulation environment
    (2021) Touzout, Walid; Benazzouz, Djamel; Benmoussa, Yahia
    Mobile robots' autonomy is limited by the capacity of their batteries; thus, their energy consumption estimation and management are important issues to deal with energy minimization techniques, such as path planning, tasks scheduling etc. These techniques need to be tested, evaluated, and approved for different scenarios; however, this cannot be feasible in case of huge scenarios and may require much hardware setup. In this paper, we introduce a numerical solution by enriching the Robot Operating System (ROS) infrastructure with modelling, monitoring, and energy management tools by integrating an energy consumption model of a differential drive mobile robot into ROS/Gazebo-based simulator. The obtained results involve realtime power consumption of the virtual robot for predefined scenarios, and the total energy consumption is monitored numerically at the end of each scenario without any hardware requirement.
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    Differential Drive Mobile Robot Energy Model Integration into ROS–Based Simulation Environment
    (2019) Touzout, Walid; Benazzouz, Djamel; Ouelmokhtar, Hand; Benmoussa, Yahia
    Nowadays, mobile robots are used in different applications however they are constrained by the limitation of their batteries making reducing energy consumption a significant challenge for mobile robots’ community. Thus, energy consumption modelling is therefore becoming an important approach to reducing energy cost. However, power reduction techniques evaluation and approbation may require much hardware configuration and can be time consuming especially in case of huge scenarios. We present in this paper a methodology used to enrich the Robot Operating System (ROS) infrastructure with modelling, monitoring, and energy management tools by integrating an energy consumption model of a differential drive mobile robot into ROS and Gazebo-based simulator. The simulation results illustrate the instantaneous power consumption of the robot for three different scenarios. Thereafter, the total energy consumption can be monitored without any hardware requirement at the end of each scenario