An analysis of rollover stability measurement for high-speed mobile robots
An analysis of rollover stability measurement for high-speed mobile robots
复制标题
高速移动机器人侧翻稳定性测量分析
DOI：
10.1109/robot.2006.1642269
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发表时间：
2006
期刊：
影响因子：
--
通讯作者：
K. Iagnemma
中科院分区：
文献类型：
--
作者：
Steven C. Peters;K. Iagnemma
移动的机器人和乘用车经常需要在倾斜或不平坦的地形上高速运行。这些系统可能容易发生倾翻，特别是在剧烈的机动过程中。本文对移动的机器人在高速下的侧翻稳定性测量进行了分析。该分析检查了在斜坡和崎岖地形上运行时普遍接受的侧翻稳定性指标的准确性。传感器的位置，重心位置估计误差，和车轮动力学的影响进行了研究。结果表明，这些影响可以有显着的影响，在高速运行的稳定性测量
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