Power Optimization in Mobile Robots Using a Real-Time Heuristic

Table 2

Components and loads in robot 1.

No.	Sensors/actuators	Power rate	Power factor (PF)	Load (Amps ∗ Voltage)	Result
1	Ultrasonic sensors (EZ1)	4 mA	0.7	0.004 ∗ 5 V	0.02 W
2	Ultrasonic sensors (URM V2)	20 mA	1	0.02 ∗ 5 V	0.1 W
3	IR sensors (Sharp )	33 mA	0.5	0.033 ∗ 5 V	0.165 W
5	Servos (HS 422 )	800 mA	0.5	0.8 ∗ 5 V	4 W
6	Wheel drive motors	1600 mA	1	1.6 ∗ 9 V	14.4 W
7	Microcontroller (Arduino Uno)	90 mA	1	0.09 ∗ 9 V	0.81 W
8	Encoders	4 mA	1	0.004 ∗ 9 V	0.036 W
9	Motor controller	10 mA	1	0.01 ∗ 9 V	0.09 W
				Total	19.621 W