6Ghaderi A, Sanada A, Nassiraei Amir A F, Ishii K, Godler I. Power and Propulsion Systems Design for an Autonomous Omni-directional Mobile Robot [ Z ]. Applied Power Electronics Conference and Exposition,2008.
7Su K L, Tzou J H, Liu C C. Development of a muhisensorbased residual power prediction system for mobile robots[ Z ]. Advanced Robotics and Its Social Impacts,2007.
8Lister M,Salem T. Design and Implementation of a Robot Power Supply System [ Z ]. SoutheastCon, 2002.
9Luo R C, Su K L, Deng C W. Multisensor based power diagnosis system for an intelligent robot [ J ]. Industrial Electronics Society ,2003, ( 3 ).
10Texas Instruments. MSP430F42x Mixed Signal Controller- Datasheet [ Z ]. 2007.