Power Optimization in Mobile Robots Using a Real-Time Heuristic

Table 4

Components and loads in robot 3.

No.	Sensors/actuators	Power rate	Power factor (PF)	Load (Amps ∗ Voltage)	Result
1	Ultrasonic sensor (Seedstudio)	15 mA	1	0.015 ∗ 5 V	0.075 W
3	Camera (Blackfin)	145 mA	0.8	0.145 ∗ 7.3 V	1.06 W
4	Rotating servos HS 422	800 mA	0.5	0.8 ∗ 5 V	4 W
5	Wheel drive motors	700 mA	1	0.7 ∗ 7.3 V	5.11 W
6	Microcontroller (Uno R3)	50 mA	1	0.05 ∗ 7.3 V	0.365 W
7	Ultrasonic sensor (Ping)	20 mA	1	0.02 ∗ 5 V	0.1 W
8	GPS/GPRS	100 mA	0.8	0.1 ∗ 5 V	0.5 W
9	Laser range finder	40 mA	0.9	0.04 ∗ 5 V	0.2 W
				Total	11.41 W