Power Optimization in Mobile Robots Using a Real-Time Heuristic

Algorithm 1

Power controller algorithm. Input: (ST1).

1.  Set timer ←st1

2.  Initiate clock

3.  if system interrupt occurs then

4.   Do

5.   Begin

6.    While (no collision AND motion-not-finished AND no-software-timer-overflow)

7.      Do

8.      Begin

9.      Send-Controller-to-sleep;

10.      if (interrupt = sleep timer)

11.       Decrement ST1

12.      End

13.    End

14.   End

15.   While (no-interruption)

16.   Stop when the task is completed

17.   Go to step 1