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Unformatted text preview: 9 AUTONOMOUS VEHICLE MISSION DESIGN, WITH A SIMPLE BATTERY MODEL 13 9 Autonomous Vehicle Mission Design, with a Simple Battery Model An autonomous land robot carries its own energy in the form of a E ( t = 0) = 700 Wh (Watt-hour) battery. The robot can stay stationary at a cost of 18 W to run its processor and instrumentation, or it can move with the additional locomotion cost of 35 U 3 Watts, where U is the speed in m/s . The battery has a nonlinear discharge curve, that penalizes high loads:- dE/dt = P + 0 . 005 P 2 , where P is the total power load (taken in Watts), and dE/dt is also in Watts. 1. What is the longest duration mission that we can run, if the mission ends when E = 0? The longest duration mission is one where we dont move. We simply have the hotel load eating away at the battery, drawing 19 . 6 W ; the mission time is T = 35 . 7 h . Formulas are in the attached MATLAB code. 2. What is the longest distance mission that we can run? Give the distance, duration, and vehicle speed for this mission. The battery energy loss rate is a static function of load, so we have to just pick the best speed and run until the battery is dead. My code takes a numerical approach, sweeping through a number of possible speeds and picking out the case with greatest distance....
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This note was uploaded on 11/29/2011 for the course CIVIL 1.00 taught by Professor Georgekocur during the Spring '05 term at MIT.
- Spring '05