Power Optimization in Mobile Robots Using a Real-Time Heuristic

Table 5

Components and loads in robot 4.

No.	Sensors/actuators	Power rate	Power factor (PF)	Load (Amps ∗ Voltage)	Result
2	IR sensors ( Sharp )	33 mA	0.5	0.033 ∗ 5 V	0.165 W
3	Camera (Blackfin)	145 mA	0.8	0.145 ∗ 7.3 V	1.06 W
4	Rotating servos ( HS 422 ) e.g. gripper	800 mA	0.7	0.8 ∗ 5 V	4 W
5	Wheel drive motors	1200 mA	1	1.2 ∗ 7.3 V	8.76 W
6	Microcontroller uno R3	100 mA	1	0.1 ∗ 7.3 V	0.365 W
7	Encoder	20 mA	1	0.02 ∗ 7.3 V	0.15 W
8	Laser range finder	40 mA	0.9	0.04 ∗ 5 V	0.2 W
9	X-Bee wireless adapter	250 mA	0.8	0.25 ∗ 5 V	1.25 W
				Total	15.95 W