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Proceedings Paper

Modeling and simulation of an unmanned ground vehicle power system
Author(s): John Broderick; Jack Hartner; Dawn M. Tilbury; Ella M. Atkins
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Paper Abstract

Long-duration missions challenge ground robot systems with respect to energy storage and efficient conversion to power on demand. Ground robot systems can contain multiple power sources such as fuel cell, battery and/or ultra-capacitor. This paper presents a hybrid systems framework for collectively modeling the dynamics and switching between these different power components. The hybrid system allows modeling power source on/off switching and different regimes of operation, together with continuous parameters such as state of charge, temperature, and power output. We apply this modeling framework to a fuel cell/battery power system applicable to unmanned ground vehicles such as Packbot or TALON. A simulation comparison of different control strategies is presented. These strategies are compared based on maximizing energy efficiency and meeting thermal constraints.

Paper Details

Date Published: 3 June 2014
PDF: 10 pages
Proc. SPIE 9084, Unmanned Systems Technology XVI, 908406 (3 June 2014); doi: 10.1117/12.2050483
Show Author Affiliations
John Broderick, Univ. of Michigan (United States)
Jack Hartner, U.S. Army Tank Automotive Research, Development and Engineering Ctr. (United States)
Dawn M. Tilbury, Univ. of Michigan (United States)
Ella M. Atkins, Univ. of Michigan (United States)


Published in SPIE Proceedings Vol. 9084:
Unmanned Systems Technology XVI
Robert E. Karlsen; Douglas W. Gage; Charles M. Shoemaker; Grant R. Gerhart, Editor(s)

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