Modeling the power consumption of a Wifibot and studying the role of communication cost in operation time

Abstract: Mobile robots are becoming part of our every day living at home, work or entertainment. Due to their limited power capabilities, the development of new energy consumption models can lead to energy conservation and energy efficient designs. In this paper, we carry out a number of experiments and we focus on the motors power consumption of a specific robot called Wifibot. Based on the experimentation results, we build models for different speed and acceleration levels. We compare the motors power consumption to other robot running modes. We, also, create a simple robot network scenario and we investigate whether forwarding data through a closer node could lead to longer operation times. We assess the effect energy capacity, traveling distance and data rate on the operation time.