Battery & Charging Configuration¶

Configuration for battery simulation and charging stations.

Robot Battery Schema¶

robots:
  battery:
    enabled: <boolean>             # Default: false
    capacity_wh: <float>          # Default: 400
    min_soc: <float>              # Default: 0.15
    consumption:
      per_meter_wh: <float>       # Default: 0.1
      per_kg_per_meter_wh: <float> # Default: 0.01
      idle_power_w: <float>       # Default: 5.0
      service_power_w: <float>    # Default: 20.0

Charging Station Schema¶

charging_stations:
  - id: <string>                   # Required
    node: <string>                 # Required
    bays: <integer>               # Default: 1
    charge_rate_w: <float>        # Default: 200
    queue_capacity: <integer>     # Optional

Battery Configuration¶

enabled¶

Type: boolean Default: false

Enable battery simulation.

robots:
  battery:
    enabled: true

capacity_wh¶

Type: float Default: 400

Battery capacity in watt-hours.

robots:
  battery:
    enabled: true
    capacity_wh: 500

Typical values:

Robot Size	Capacity (Wh)
Small	200-300
Medium	400-600
Large	600-1000

min_soc¶

Type: float Default: 0.15

Minimum state of charge before robot must charge.

robots:
  battery:
    min_soc: 0.20  # Charge when below 20%

Range: 0.0 to 1.0 (0% to 100%)

Consumption Model¶

per_meter_wh¶

Type: float Default: 0.1

Energy consumed per meter of travel (empty).

robots:
  battery:
    consumption:
      per_meter_wh: 0.08

per_kg_per_meter_wh¶

Type: float Default: 0.01

Additional energy per kg of payload per meter.

robots:
  battery:
    consumption:
      per_kg_per_meter_wh: 0.012

Example: Robot carrying 20kg traveling 100m:

Energy = (0.08 + 0.012 × 20) × 100 = 32 Wh

idle_power_w¶

Type: float Default: 5.0

Power consumption when idle (watts).

robots:
  battery:
    consumption:
      idle_power_w: 3.0

service_power_w¶

Type: float Default: 20.0

Power consumption during station service (watts).

robots:
  battery:
    consumption:
      service_power_w: 15.0

Charging Station Configuration¶

id¶

Type: string Required: Yes

Unique charging station identifier.

node¶

Type: string Required: Yes

Map node where charging station is located.

bays¶

Type: integer Default: 1

Number of charging bays (robots that can charge simultaneously).

charging_stations:
  - id: "charger_1"
    node: "N50"
    bays: 4  # Can charge 4 robots at once

charge_rate_w¶

Type: float Default: 200

Charging power per bay in watts.

charging_stations:
  - id: "charger_1"
    node: "N50"
    charge_rate_w: 300  # Fast charger

Charge time calculation:

Time (hours) = (capacity_wh × (1 - current_soc)) / charge_rate_w

queue_capacity¶

Type: integer Default: unlimited

Maximum robots waiting to charge.

charging_stations:
  - id: "charger_1"
    node: "N50"
    bays: 2
    queue_capacity: 6

Examples¶

Basic Battery Setup¶

robots:
  count: 10
  max_speed_mps: 1.5
  battery:
    enabled: true
    capacity_wh: 400
    min_soc: 0.15
    consumption:
      per_meter_wh: 0.1
      idle_power_w: 5.0
      service_power_w: 20.0

charging_stations:
  - id: "charger_1"
    node: "N50"
    bays: 2
    charge_rate_w: 200

Multiple Charging Stations¶

robots:
  count: 25
  max_speed_mps: 1.8
  battery:
    enabled: true
    capacity_wh: 500
    min_soc: 0.18
    consumption:
      per_meter_wh: 0.08
      per_kg_per_meter_wh: 0.01
      idle_power_w: 4.0
      service_power_w: 18.0

charging_stations:
  - id: "charger_zone_a"
    node: "N100"
    bays: 3
    charge_rate_w: 250
    queue_capacity: 6

  - id: "charger_zone_b"
    node: "N200"
    bays: 3
    charge_rate_w: 250
    queue_capacity: 6

  - id: "fast_charger"
    node: "N150"
    bays: 2
    charge_rate_w: 400
    queue_capacity: 4

Conservative Battery Setup¶

robots:
  count: 15
  max_speed_mps: 1.5
  battery:
    enabled: true
    capacity_wh: 600
    min_soc: 0.25  # Higher threshold for safety
    consumption:
      per_meter_wh: 0.12
      per_kg_per_meter_wh: 0.015
      idle_power_w: 6.0
      service_power_w: 25.0

charging_stations:
  - id: "main_charger"
    node: "N75"
    bays: 5
    charge_rate_w: 200
    queue_capacity: 10

Capacity Planning¶

Charging Station Sizing¶

Estimate required charging capacity:

Required bays ≈ (robots × avg_charge_time) / operating_hours

Where:

avg_charge_time: Time to charge from min_soc to full
operating_hours: Hours before robots need recharge

Example Calculation¶

20 robots
400 Wh battery, charge from 15% to 100%
200 W charger
Avg charge time: (400 × 0.85) / 200 = 1.7 hours
Operating time per charge: ~4 hours

Required bays ≈ (20 × 1.7) / 4 ≈ 8.5 → 9 bays