Energy-efficient laws of motion for mobile robots

Energy-efficient laws of motion for mobile robots

Anton D. Klestov, Technician, Peter the Great St. Petersburg Polytechnic University (SPbPU), 29, Polytechnicheskaya ul., Saint Petersburg, 195251, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it.

Dmitrii V. Shabanov, Candidate of Engineering Sciences, Assistant Professor of the Higher School of Automation and Robotics, SPbPU, 29, Polytechnicheskaya ul., Saint Petersburg, 195251, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it.

Vladimir E. Milentey, Master’s Degree Student of Higher School of Automation and Robotics, SPbPU, 29, Polytechnicheskaya ul., Saint Petersburg, 195251, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it.

Andery N. Volkov, Doctor of Engineering Sciences, Associate Professor, Professor, SPbPU, Institute of Machinery Materials and Transport (IMMIT), Higher School of Automation and Robotics, 29, Politekhnicheskaya ul., Saint Petersburg, 195251, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it., Scopus ID: 56585311600, Elibrary ID: 651594

Pavel I. Romanov, Doctor of Engineering Sciences, Professor, Professor of the Higher School of Mechanical Engineering, SPbPU, 29, Polytechnicheskaya ul., Saint Petersburg, 195251, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it.

UDC identifier: 629.3:007.52

EDN: KQUNHL

Abstract. An energy-efficient algorithm for linear motion of a mobile robot is proposed. It is applicable to conditions of unknown path length and motion surface inclination. The influence of the motion surface inclination angle and path length on robot performance is demonstrated. A method for determining the preferred cruising speed and traction force based on the balance of energy consumption and performance loss is proposed. An algorithm is developed for implementing the proposed motion strategy under conditions of variable surface inclination. The effectiveness of the developed algorithm is assessed using computer simulation results.

Key words: energy efficiency, mobile robot, law of motion, performance of a transport robot, movement on inclined surfaces

For citation: Klestov, A.D., Shabanov, D.V., Milentey, V.E., Volkov, A.N. and Romanov, P.I. (2026), "Energy-efficient laws of motion for mobile robots", Robotics and Technical Cybernetics, vol. 14, no. 1, pp. 21-29, EDN: KQUNHL. (in Russian).

Acknowledgements
The research is funded by the Ministry of Science and Higher Education of the Russian Federation under the strategic academic leadership program «Priority 2030» (Agreement 075-15-2025-210 dated 04 April 2025).

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Received 10.08.2025
Revised 25.09.2025
Accepted 19.11.2025