Optimización energética en robots agrícolas con sistemas predictivos y Ventana Dinámica
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- Daniel Teso Fz. de Betoño+−
- Iñigo Aramendia+−
- José Antonio Ramos-Hernanz+−
- Idoia Manero+−
- Daniel Caballero-Martin+−
- José Manuel Lopez-Guede+−
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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