Power Optimization in Mobile Robots Using a Real-Time Heuristic

Table 3

Components and loads in robot 2.

No.	Sensors/actuators	Power rate	Power factor (PF)	Load (Amps ∗ Voltage)	Result
1	Ultrasonic sensors (SRF02)	2 mA	0.7	0.002 ∗ 5 V	0.01 W
2	Motion servos (HS 422)	800 mA	0.5	0.8 ∗ 5 V	4 W
3	Wheel drive motors	500 mA	1	0.5 ∗ 6 V	3 W
4	Microcontroller PCB (PIC)	100 mA	1	0.1 ∗ 6 V	0.6 W
5	Encoders	4 mA	1	0.004 ∗ 6 V	0.024 W
6	X-Bee wireless adapter	250 mA	0.8	0.25 ∗ 5 V	1.25 W
				Total	8.88 W