Modeling PWM-Time-SOC Interaction in a Simulated Robot
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.
Cite
@article{arxiv.2603.00319,
title = {Modeling PWM-Time-SOC Interaction in a Simulated Robot},
author = {Vidyut Pradeep and Shirantha Welikala},
journal= {arXiv preprint arXiv:2603.00319},
year = {2026}
}