Optimización energética en robots agrícolas con sistemas predictivos y Ventana Dinámica

  1. Teso Fz. de Betoño, Daniel 1
  2. Aramendia, Iñigo 1
  3. Ramos-Hernanz, José Antonio 1
  4. Manero, Idoia 1
  5. Caballero-Martin, Daniel 1
  6. Lopez-Guede, José Manuel 1
  1. 1 Universidad del País Vasco/Euskal Herriko Unibertsitatea
    info

    Universidad del País Vasco/Euskal Herriko Unibertsitatea

    Lejona, España

    ROR https://ror.org/000xsnr85

Revista:
Jornadas de Automática
  1. Cruz Martín, Ana María (coord.)
  2. Arévalo Espejo, V. (coord.)
  3. Fernández Lozano, Juan Jesús (coord.)

ISSN: 3045-4093

Año de publicación: 2024

Número: 45

Tipo: Artículo

DOI: 10.17979/JA-CEA.2024.45.10887 DIALNET GOOGLE SCHOLAR lock_openAcceso abierto editor

Resumen

En esta investigación, introducimos un nuevo Enfoque de Ventana Dinámica Predictiva (P-DWA), donde el algoritmo no solo anticipa la trayectoria óptima en términos de tiempo, sino que también evalúa el consumo energético del movimiento del robot móvil. El P-DWA predice nueve posibles destinos, evalúa su rendimiento temporal y elige las tres mejores trayectorias. Mediante el modelado de los motores del robot móvil, se logra estimar el consumo energético y el par requerido para un mapa 2D y de las trayectorias predichas se determina el consumo de cada una de ellas en vatios-hora (W/h), para optar por aquellas que menor consumo requieran. Los resultados muestran que, mediante la consideración energética, es posible llegar a reducir el 9% del consumo energético comparación con el enfoque de Ventana Dinámica convencional.

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Fuente de los datos: Dialnet