2016
DOI: 10.32565/aarms.2016.3.10
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Variable Robot Geometry Optimization Method to Avoid Tip Over Situations During Slow Motion on Unknown Terrains

Abstract: This paper presents a parametrized stability control method for special slow motion field mobile robots, based on use cases from border surveillance. The concept uses the centre of gravity (COG) as the virtual centre of motion (VCM). The simplified robot geometry is an input parameter of the model, so it can work with different types of mobile robots, like holonomic-wheeled, differential-wheeled, steered, tracked, wheeled-tracked, segmented, etc. structures. This method resulted in the implementation of a flex… Show more

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