Navigation Power Measurements

October 30, 2016 at home when I was testing the navigation stack.

Bench Power Supply

Power measurement on the Tenma DC Supply

Complete Stack

• Navigation stack running with wheels turning. XV-11 LIDAR and 7 inch display
• 22.2 volts
• Map with no motors: 0.85 amps = 18.9 watts
• Motor slow: 0.95 amps = 21.1 watts (occasional 1.25 amp spikes)
• Motors full: 1.15 apms = 25.5 watts (occasional 1.45 amp spikes)
• Display is pulling 0.13 amps = 2.9 watts

Under Battery

22.2 volt 6 cell 5000 mAh Li-Po by Turnigy fully charged

This is the October 30, 2016 listed above

• Run time 51 minutes
• Voltage drop from 25.1 to 24.3 volts
• 840 mAh recharge required
• 0.84 Amp Hours / (51 / 60 Hours) = 0.99 Amps
• 0.99 Amps * 24.7 (average) volts = 24.4 watts

Another example November 15 and 16, 2016

• Run 2 hours 29 minutes on the 15th
• Run 1 hour on the 16th
• voltage drop to 22.5
• 2641 mAh recharge required

Here is another example from June 13, 2016 at our IEEE RAS ROS workshop

• Run time was 2 hours 13 minutes
• 2298 recharge required
• This is around an amp as well