Energy Consumption Analysis of the Selected Navigation Algorithms for Wheeled Mobile Robots

The article presents the research on navigation algorithms of a wheeled mobile robot with use vision mapping system and analysis energy consumption selected algorithms, such as RRT A-star. Obstacle maps were made an RGBW camera, binary occupation also made, which used to determine traffic path. To recreate routes in hardware, programmed Pure Pursuit controller was used. results compared basis forward kinematics model odometry measurements. Quantities current, except (x, y, phi), linear angular velocities measured real time. As result conducted research, it found that star algorithm consumes least reach designated target environment.