{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,29]],"date-time":"2026-04-29T04:24:29Z","timestamp":1777436669793,"version":"3.51.4"},"reference-count":23,"publisher":"SAGE Publications","issue":"2","license":[{"start":{"date-parts":[[2020,3,1]],"date-time":"2020-03-01T00:00:00Z","timestamp":1583020800000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"ISR - University of Coimbra","award":["project UID\/EEA\/00048\/2013 funded by FCT - Funda\\"],"award-info":[{"award-number":["project UID\/EEA\/00048\/2013 funded by FCT - Funda\\"]}]}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["International Journal of Advanced Robotic Systems"],"published-print":{"date-parts":[[2020,3,1]]},"abstract":"<jats:p>Energy autonomy is an important aspect that needs to be improved in order to increase efficiency in mobile robotic tasks. Having accurate power models allows the estimation of energy consumption along different trajectories. This article proposes a power model for two-wheel differential drive mobile robots. The proposed model takes into account the dynamic parameters of the robot and its motors, and predicts the energy consumption for trajectories with variable accelerations and variable payloads. The experimental validation of the proposed model was performed with a Nomad Super Scout II mobile robot which was driven along straight and curved trajectories, with different payloads and accelerations. The experiments using the proposed model showed accuracies of 96.67% along straight trajectories and 81.25% along curved trajectories in the estimation of energy consumption.<\/jats:p>","DOI":"10.1177\/1729881420909654","type":"journal-article","created":{"date-parts":[[2020,4,1]],"date-time":"2020-04-01T07:32:26Z","timestamp":1585726346000},"page":"172988142090965","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":24,"title":["Energy estimation for differential drive mobile robots on straight and rotational trajectories"],"prefix":"10.1177","volume":"17","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-5412-1826","authenticated-orcid":false,"given":"Mauricio F","family":"Jaramillo-Morales","sequence":"first","affiliation":[{"name":"Department of Electrical, Electronic and Computer Engineering, National University of Colombia, Manizales, Colombia"}]},{"given":"Sedat","family":"Dogru","sequence":"additional","affiliation":[{"name":"Department of Electrical and Computer Engineering, Institute of Systems and Robotics, University of Coimbra, Coimbra, Portugal"}]},{"given":"Juan B","family":"Gomez-Mendoza","sequence":"additional","affiliation":[{"name":"Department of Electrical, Electronic and Computer Engineering, National University of Colombia, Manizales, Colombia"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9396-986X","authenticated-orcid":false,"given":"Lino","family":"Marques","sequence":"additional","affiliation":[{"name":"Department of Electrical and Computer Engineering, Institute of Systems and Robotics, University of Coimbra, Coimbra, Portugal"}]}],"member":"179","published-online":{"date-parts":[[2020,4,1]]},"reference":[{"key":"bibr1-1729881420909654","first-page":"4410","volume-title":"2019 International conference on robotics and automation (ICRA)","author":"Dogru S"},{"key":"bibr2-1729881420909654","first-page":"573","volume-title":"2016 IEEE international conference on automation science and engineering (CASE)","author":"Costello BC"},{"key":"bibr3-1729881420909654","first-page":"3","volume-title":"2018 4th International workshop on emerging ideas and trends in the engineering of cyber-physical systems (EITEC)","author":"Schlingloff B."},{"key":"bibr4-1729881420909654","doi-asserted-by":"publisher","DOI":"10.1016\/j.erss.2018.11.019"},{"key":"bibr5-1729881420909654","doi-asserted-by":"publisher","DOI":"10.1007\/s12369-010-0084-5"},{"key":"bibr6-1729881420909654","doi-asserted-by":"publisher","DOI":"10.1007\/s11119-016-9476-3"},{"key":"bibr7-1729881420909654","doi-asserted-by":"publisher","DOI":"10.1007\/s10846-013-9834-6"},{"key":"bibr8-1729881420909654","first-page":"4118","volume-title":"2009 IEEE international conference on robotics and automation","author":"Chuy O"},{"key":"bibr9-1729881420909654","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2009.2026499"},{"key":"bibr10-1729881420909654","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2010.2042540"},{"key":"bibr11-1729881420909654","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2017.2778278"},{"key":"bibr12-1729881420909654","first-page":"265","volume-title":"Proceeding 13th international conference on advanced robotics","author":"Kim BK"},{"key":"bibr13-1729881420909654","first-page":"193","volume":"2008","author":"Kim CH","year":"2008","journal-title":"Mobile Robot Motion Plan New Challeng"},{"key":"bibr14-1729881420909654","doi-asserted-by":"publisher","DOI":"10.1177\/1729881418754563"},{"key":"bibr15-1729881420909654","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-014-9390-3"},{"key":"bibr16-1729881420909654","first-page":"4344","volume-title":"IEEE international conference on robotics and automation, 2004. 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