Constrained Optimal Planning to Minimize Battery Degradation of Autonomous Mobile Robots

--This paper proposes an optimization framework that addresses both cycling degradation and calendar aging of batteries for autonomous mobile robot (AMR) to minimize battery degradation while ensuring task completion. A rectangle method of piecewise linear approximation is employed to linearize the bilinear optimization problem. We conduct a case study to validate the efficiency of the proposed framework in achieving an optimal path planning for AMRs while reducing battery aging. Autonomous mobile robots (AMRs) have become increasingly common in industrial and commercial settings, primarily relying on batteries for power in their material handling and transportation tasks. The efficiency and longevity of these battery systems are crucial factors in reducing operational costs and maintenance expenses.