Optimización energética en robots agrícolas  con sistemas predictivos y Ventana Dinámica

Daniel Teso Fz. de Betoño; Iñigo Aramendia; José Antonio Ramos-Hernanz; Idoia Manero; Daniel Caballero-Martin; José Manuel Lopez-Guede

doi:10.17979/ja-cea.2024.45.10887

Autores/as

Daniel Teso Fz. de Betoño UPV/EHU
Iñigo Aramendia UPV/EHU https://orcid.org/0000-0002-4960-8709
José Antonio Ramos-Hernanz UPV/EHU https://orcid.org/0000-0001-9706-4016
Idoia Manero UPV/EHU https://orcid.org/0009-0006-7887-0331
Daniel Caballero-Martin UPV/EHU https://orcid.org/0009-0007-7373-117X
José Manuel Lopez-Guede UPV/EHU https://orcid.org/0000-0002-5310-1601

DOI:

https://doi.org/10.17979/ja-cea.2024.45.10887

Palabras clave:

Control predictivo de modelos y basado en la optimización, Mobile robots, Robot móviles, Seguimiento de trayectorias y seguimiento de caminos, Guiado y control, Control predictivo

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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