TY - GEN
T1 - Analysis of mobile robot acceleration for tip-over terrain prediction
AU - Lee, Sungmin
AU - Park, Jungkil
AU - Park, Jaebyung
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2014
Y1 - 2014
N2 - The tip-over terrain can be analyzed by using a support polygon which is determined by contact points between the mobile robot and the ground. If the intersection between the extended line of the resultant force acting on the robot and the ground plane is located inside the support polygon, the tip-over does not occur. Otherwise, the tip-over must occur. However, when it comes to tip-over analysis with a support polygon, not only the position of the mobile robot but also the orientation should be considered. The tip-over under given terrain cannot be analyzed in advance unless the orientation of the robot on the terrain is determined beforehand. Thus, in this paper, the support polygon is approximated as an inscribed circle of it, which is defined as a support inscribed circle. The support inscribed circle has equidistance from its center. Therefore, it makes possible to analyze the tip-over without considering the orientation of the robot. At this time, the tip-over terrain is analyzed by considering the support inscribed circle and the acceleration of the mobile robot. Finally, the tip-over of a 4 wheeled mobile robot, ERP-42, is analyzed by using the support inscribed circle.
AB - The tip-over terrain can be analyzed by using a support polygon which is determined by contact points between the mobile robot and the ground. If the intersection between the extended line of the resultant force acting on the robot and the ground plane is located inside the support polygon, the tip-over does not occur. Otherwise, the tip-over must occur. However, when it comes to tip-over analysis with a support polygon, not only the position of the mobile robot but also the orientation should be considered. The tip-over under given terrain cannot be analyzed in advance unless the orientation of the robot on the terrain is determined beforehand. Thus, in this paper, the support polygon is approximated as an inscribed circle of it, which is defined as a support inscribed circle. The support inscribed circle has equidistance from its center. Therefore, it makes possible to analyze the tip-over without considering the orientation of the robot. At this time, the tip-over terrain is analyzed by considering the support inscribed circle and the acceleration of the mobile robot. Finally, the tip-over of a 4 wheeled mobile robot, ERP-42, is analyzed by using the support inscribed circle.
KW - mobile robot
KW - support inscribed circle
KW - tip-over analysis
UR - https://www.scopus.com/pages/publications/84949924711
U2 - 10.1109/URAI.2014.7057458
DO - 10.1109/URAI.2014.7057458
M3 - Conference paper
AN - SCOPUS:84949924711
T3 - 2014 11th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2014
SP - 467
EP - 469
BT - 2014 11th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2014
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 11th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2014
Y2 - 12 November 2014 through 15 November 2014
ER -