Download or read book Design, Motion Planning, and Control for Energy Sustainable Robotic Systems written by Myungjin Jung and published by . This book was released on 2022 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Various missions can be carried out by intelligent robotic systems, especially for some dangerous tasks in inaccessible regions by human operators on behalf of humans, thanks to the development of robotic technology. In contrast to common urban robots, which can be maintained frequently by operators, sustainability must be considered for robots to perform competently without human assistance at a distance with limited energy sources. Sustainability refers to achieving development and implementation without wasting economic and environmental resources. That is why, for future generations or in the long-term period, minimizing wasted resources while increasing efficiency in teamed robotics missions ensures sustainability for robotic units. The robots deployed for performing even a primary quest, such as a target-visiting mission formulated into ``Traveling Salesperson Problem,'' in a continuously changing environment require reliable energy sources or strategies, energy-efficient maneuvers, situation awareness in a mission area, and well-defined planning for deployment. This dissertation introduces several elements to achieve the goal of sustainability. First, unmanned vehicles harvest renewable energy, such as solar energy, during the mission area and use harvested energy to compensate for energy consumption, which significantly extends the mission duration. In addition, deploying fixed or mobile charging stations provides greater flexibility in mission planning by recharging the mobile robots during the missions. Second, a robot containing unconventional functions to perform a specific duty in a particular mission environment has much higher efficiency than a general robot performing the same task. While changing the structure or geometry of the part of the robot or utilizing a unique mechanism, it increases sustainability by lowering the energy consumption or executing time compared to the conventional robots. Third, when multiple robots are deployed, it can be verified that a shorter mission period can be achieved through cooperation of multiple robots. Furthermore, a team combined with robots characterized by unique features can bridge the gaps that a single robot cannot achieve in a specific mission. Fourth, task assignments considering distinct robot characteristics can improve mission efficiency. Furthermore, when the robot's mission environment is monitored during the mission planning, it enhances not only the autonomy of the robots but also mission efficiency, which collectively contributes to overall system sustainability. This dissertation enhances sustainability through improved autonomy by combining motion control, integrated path planning, task allocation, and developing new functions. This work presents four robotic systems with various types of unmanned aerial and ground systems, including (1) design and control of a solar-powered airship, (2) design and path planning of an airborne wind energy system with foldable wings, (3) integrated path planning and task allocation for a team of jumping rovers, and (4) cooperative control of a team of rovers consisting of a solar-powered rover as a charging station and a jumping rover. In order to realize improved mission efficiency and enhance the performance of mission duration, ultimately aimed at increasing the sustainability of the robots, several aspects are considered in each application. The products of this dissertation include system design, algorithm development, and experimental verification, which enhance the sustainability of the missions for different types of unmanned robots in remote areas. Each robotic system in this dissertation provides potential and extension for a wide range of unmanned robots in various missions requiring high-level autonomy. The outcome of this study includes main ideas, algorithms, and test analysis that will enhance the sustainability of the missions with multiple unmanned robots in remote areas. The dissertation has demonstrated that integrating design, motion planning, and control can efficiently extend the mission duration for various robotic systems. Furthermore, the sustainability of these robotics systems has been demonstrated via simulation or experimentation under various indoor and outdoor missions.