An efficient anti-tipping software solution with applications on VEX Robotics drivetrains

Abstract

In mobile robots, one crucial factor is the ability to remain balanced. Developing mechanics for such mobile robots to be able to get back up from a fallen state if of great importance. This paper presents a potential algorithm that can efficiently solves such stated problem for mobile, four-wheel-drive robots. An inertial sensor can be used to collect data of linear acceleration, angular velocities, and rotational dynamics from the robot. The data can then be used in a PID controller program to find the maximum speed a robot can travel and both the maximum acceleration and deceleration without tipping over. An environment is simulated in WeBots for evaluation of the implementation of this algorithm on a four-wheel-drive robot.