发表机构
Federal University of Technology - Paraná (UTFPR); University of Southern Denmark (SDU); University of Stuttgart; Vrije Universiteit (VU) Amsterdam（巴拉那联邦理工大学; 南丹麦大学; 斯图加特大学; 阿姆斯特丹自由大学）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
本文通过受控实验研究ROS 2中Costmap 2D配置对移动机器人导航能耗的影响，发现配置需针对具体环境选择，并识别出影响性能与能耗的关键设置。
AI 中文摘要
机器人在各种应用领域中的应用日益广泛，其中自主导航扮演着核心角色。随着这些系统的普及，提高其能源效率对于延长运行时间和减少环境影响至关重要。机器人操作系统（ROS）是一种广泛采用的机器人中间件，提供了丰富的可配置软件包。然而，这种灵活性可能导致在动态环境中出现次优的软件配置，对性能和能耗产生负面影响。本文研究了ROS 2软件包重新配置对移动机器人导航能源效率的影响。我们在两个类似仓库的场景（小型和大型）中进行了受控实验，这些场景具有不同的障碍物布局和Costmap 2D配置（对Nav2栈至关重要）。通过重复试验，我们测量了能耗、功率曲线、CPU负载、内存消耗和导航性能。结果表明，必须针对特定的机器人环境仔细选择配置，我们能够识别出导致良好和较差性能及能耗的关键设置。
英文摘要
Robots are increasingly used in diverse application areas, where autonomous navigation plays a central role. As these systems become more widespread, improving their energy efficiency is critical to extending operational time and reducing environmental impact. The Robot Operating System (ROS) is a widely adopted middleware for robotics, offering a rich set of configurable packages. However, this flexibility can result in suboptimal software configurations in dynamic environments, negatively affecting both performance and energy consumption. This paper investigates the impact of ROS 2 package reconfigurations on the energy efficiency of mobile robot navigation. We conduct a controlled experiment in two warehouse-like scenarios (small and large) with varying obstacle layouts and Costmap 2D configurations (essential to the Nav2 stack). Through repeated trials, we measure energy usage, power profile, CPU load, memory consumption, and navigation performance. Results show that configurations must be carefully chosen for the specific robotic environment, and we were able to identify critical settings that lead to good and poor performance and energy consumption.
Journal refICRA 2026 Conference
