摘要：Electrically powered robots are seeing increased adoption for field robotics applica-tions. These applications typically require the platforms be deployed for extended periods,ortraverse large distances.Power modelling therefore becomes important, as knowing the energycosts of operation is necessary for the estimation of maximum range and operating time, andthe generation of energy-efficient plans. In this paper，we present a physics-based power modelfor the Swagbot platform—an omnidirectional electric field robot—which can be calibratedfrom a combimation of GPS and proprioceptive data gathered throughout the course of normaloperations. This model is then experimentally verified via endurance testing performed oncattle properties featuring uneven terrain. The model was demonstrated to predict the energyconsumption for a pasture survey and a weed detection task to within 5% of the measured value.
关键词：energy modelling;field robotics;autonomous mobile robots;regression analysis
