An analysis of rollover stability measurement for high-speed mobile robots

An analysis of rollover stability measurement for high-speed mobile robots

Mobile robots and passenger vehicles are frequently required to operate at high speeds, on terrain that is sloped or uneven. These systems can be susceptible to rollover, particularly during severe maneuvers. This paper presents an analysis of rollover stability measurement for mobile robots operati...

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Hauptverfasser: Peters, S.C., Iagnemma, K.
Format: Tagungsbericht
Sprache:eng
Schlagworte:
Acceleration
Accidents
Center-of-gravity position estimation error
High-speed mobile robots
Mobile robots
Navigation
Robotics and automation
Rollover stability measurement
Stability
Stability analysis
Tires
Vehicles
Velocity measurement
Wheel dynamics
Wheels
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Iagnemma, K.
description Mobile robots and passenger vehicles are frequently required to operate at high speeds, on terrain that is sloped or uneven. These systems can be susceptible to rollover, particularly during severe maneuvers. This paper presents an analysis of rollover stability measurement for mobile robots operating at high speeds. The analysis examines the accuracy of a commonly accepted rollover stability metric during operation on sloped and rough terrain. The effects of sensor placement, center-of-gravity position estimation error, and wheel dynamics are examined. It is shown that these effects can have a significant impact on stability measurement during high speed operation
doi_str_mv 10.1109/ROBOT.2006.1642269
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ispartof Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006, 2006, p.3711-3716
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source IEEE Electronic Library (IEL) Conference Proceedings
subjects Acceleration
Accidents
Center-of-gravity position estimation error
High-speed mobile robots
Mobile robots
Navigation
Robotics and automation
Rollover stability measurement
Stability
Stability analysis
Tires
Vehicles
Velocity measurement
Wheel dynamics
Wheels
title An analysis of rollover stability measurement for high-speed mobile robots
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