Modeling PWM-Time-SOC Interaction in a Simulated Robot

• URL: http://arxiv.org/abs/2603.00319v1
• Date: Fri, 27 Feb 2026 21:21:35 GMT
• Title: Modeling PWM-Time-SOC Interaction in a Simulated Robot
• Abstract summary: This work develops a physics and data-informed model from a simulation that predicts SOC depletion as a function of time and duty cycle for a simulated 4-wheel Arduino robot.<n>The framework allows for energy-aware planning for similar robots and can be extended to incorporate arbitrary initial SOC levels and environment-dependent parameters for real-world deployment.
• Score: 0.0
• License: http://creativecommons.org/licenses/by/4.0/
• Abstract: Accurate prediction of battery state of charge is needed for autonomous robots to plan movements without using up all available power. This work develops a physics and data-informed model from a simulation that predicts SOC depletion as a function of time and PWM duty cycle for a simulated 4-wheel Arduino robot. A forward-motion simulation incorporating motor electrical characteristics (resistance, inductance, back-EMF, torque constant) and mechanical dynamics (mass, drag, rolling resistance, wheel radius) was used to generate SOC time-series data across PWM values from 1-100%. Sparse Identification of Nonlinear Dynamics (SINDy), combined with least-squares regression, was applied to construct a unified nonlinear model that captures SOC(t, p). The framework allows for energy-aware planning for similar robots and can be extended to incorporate arbitrary initial SOC levels and environment-dependent parameters for real-world deployment.

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