Power Optimization in Mobile Robots Using a Real-Time Heuristic

Table 6

Components and loads in robot 5.

No.	Sensors/actuators	Power rate	Power factor (PF)	Load (Amps ∗ Voltage)	Result
1	Ultrasonic sensors	4 mA	0.7	0.004 ∗ 5 V	0.02 W
2	IR sensors (Type—Sharp)	33 mA	0.5	0.033 ∗ 5 V	0.17 W
3	Rotating servos e.g., gripper	1200 mA	0.7	1.2 ∗ 5 V	6 W
4	Wheel drive motors	1000 mA	1	1 ∗ 6 V	6 W
5	Microcontroller mega 2560	100 mA	1	0.1 ∗ 6 V	0.6 W
6	Encoders	20 mA	1	0.02 ∗ 6 V	0.12 W
7	X-Bee	250 mA	0.8	0.033 ∗ 5 V	0.165 W
				Total	13.08 W