Energy management focused mission planning and coordination in swarm mobile robots

Today, energy is important in studies related to unmanned vehicles as it is in every field. Because what is expected from mobile robots is to perform the tasks given in an autonomous structure with determination and by bringing solutions to problems. However, adequate energy supply is problematic for long-term, long-distance or continuous missions. In this sense, many power supply studies and energy supply strategies have been developed for mobile robots, such as the use of short-term batteries, the use of renewable energy sources, hybrid power structures, charging tasks. Their development difficulties and additional task burdens have brought more efficient use of existing energy to the fore. Especially in swarm mobile robots, it has been seen as an important problem that the task is carried out with stability and a smooth planning according to the total energy. In current mission planning, energy consumption is generally taken into account as a result of events. However, task, movement and energy source are parameters that affect each other. In the thesis study, studies on energy management that consider these three structures together were carried out. These; A new energy consumption estimation model has been developed to accurately measure the energy consumption of the robot motion system. Contrary to the existing models, the developed energy consumption estimation model takes into account all the parameters in the environment. A model for path and energy-balanced velocity acceleration control in accordance with the task-energy relationship of the motion has been proposed. Thus, it is ensured that the movement of the robot is performed at the most appropriate speeds with an energy focus. New resource-based task planning algorithms have been developed in which single and swarm mobile robots are based on energy With these proposed and developed models and algorithms, energy management based on efficiency has been achieved in all stages of movement by considering the path planning, speed control and energy-oriented task understanding of herd mobile robots as a whole