Autonomous Ground Robots (AGRs) face significant challenges due to limited energy reserve, which restricts their overall performance and availability. Prior research has focused separately on energy-efficient approaches and fleet management strategies for task allocation to extend operational time. A fleet-level scheduler, however, assumes a specific energy consumption during task allocation, requiring the AGR to fully utilize the energy for maximum performance, which contrasts with energy-efficient practices. This paper addresses this gap by investigating the combined impact of computing frequency and locomotion speed on energy consumption and performance. We analyze these variables through experiments on our prototype AGR, laying the foundation for an integrated approach that optimizes cyber-physical resources within the constraints of a specified energy budget. To tackle this challenge, we introduce PECC (Predictable Energy Consumption Controller), a framework designed to optimize computing frequency and locomotion speed to maximize performance while ensuring the system operates within the specified energy budget. We conducted extensive experiments with PECC using a real AGR and in simulations, comparing it to an energy-efficient baseline. Our results show that the AGR travels up to 17\% faster than the baseline in real-world tests and up to 31\% faster in simulations, while consuming 95\% and 91\% of the given energy budget, respectively. These results prove that PECC can effectively enhance AGR performance in scenarios where prioritizing the energy budget outweighs the need for energy efficiency.

翻译：自主地面机器人（AGRs）因能量储备有限而面临重大挑战，这限制了其整体性能与可用性。先前研究分别聚焦于节能方法以及用于任务分配的集群管理策略以延长运行时间。然而，集群级调度器在任务分配时假设了特定的能量消耗，要求AGR为获得最大性能而充分利用能量，这与节能实践相矛盾。本文通过研究计算频率与移动速度对能量消耗和性能的综合影响来弥合这一差距。我们通过在原型AGR上进行实验来分析这些变量，为在指定能量预算约束内优化信息物理资源的集成方法奠定基础。为应对这一挑战，我们提出了PECC（可预测能量消耗控制器），这是一个旨在优化计算频率和移动速度以最大化性能，同时确保系统在指定能量预算内运行的框架。我们使用真实AGR并在仿真中对PECC进行了广泛实验，将其与节能基线方法进行比较。结果表明，在真实测试中AGR的移动速度比基线快达17%，在仿真中快达31%，同时分别消耗了给定能量预算的95%和91%。这些结果证明，在优先考虑能量预算而非节能需求的场景中，PECC能有效提升AGR性能。