LONGITUDINAL STABILITY OF WHEELED MOBILE ROBOTS - DEGREE OF STABILITY

Authors

  • Stoyan Lilov Institute of Robotics, Bulgarian Academy of Sciences (BG)
  • Vanya Markova Institute of Robotics, Bulgarian Academy of Sciences (BG)
  • Nickolay Popov Institute of Robotics, Bulgarian Academy of Sciences (BG)
  • Ventseslav Shopov Institute of Robotics, Bulgarian Academy of Sciences (BG)

DOI:

https://doi.org/10.17770/etr2024vol3.8126

Keywords:

Degree of stability, longitudinal stability, stability coefficient, wheeled mobile robots

Abstract

In this paper, the research focus is on the longitudinal stability of a wheeled mobile robot, using a geometric similarity coefficient (this coefficient is defined in the paper). The research method used for calculations is D'Alembert's principle. The results represent the limit driving/braking forces and limit accelerations/ decelerations for a given geometric similarity coefficient, before the robot loses stability.

Downloads

Download data is not yet available.

References

B. Siciliano, O. Khatib, (ed.). Springer handbook of robotics, Springer, 2016.

G. Wang, X. Liu, Y. Zhao, et al. Neural Network-Based Adaptive Motion Control for a Mobile Robot with Unknown Longitudinal Slipping. Chin. J. Mech. Eng. 32, 61 (2019).

I. Evtimov, R Ivanov, "Elektromobili", University of Rousse "Angel Kanchev", Rousse, Bulgaria, 2016. Evtimov, I., Ivanov R. Electromobili, University of Rousse "Angel Kanchev", Rousse, 2016

S. Nakajima. Stair-climbing gait for a four-wheeled vehicle. Robomech J 7, 20 (2020).

Y. Onozuka, N. Tomokuni, G. Murata, et al. Attitude control of an inverted-pendulum-type robotic wheelchair to climb stairs considering dynamic equilibrium. Robomech J 7, 23 (2020).

V. Nhu Tran, X. Ngoc Nguyen, et al. Rollover Stability Analisis Of Liquid Tank TRUCK Taking Into Account The Road Profiles, Journal of Applied Engineering Science, 20, 4 (2022), p. 1133-1142

Downloads

Published

2024-06-22

Issue

Vol. 3 (2024): Environment. Technology. Resources. Proceedings of the 15th International Scientific and Practical Conference. Volume 3

Section

Engineering Sciences and Production Technologies

License

Copyright (c) 2024 Stoyan Lilov, Vanya Markova, Nickolay Popov, Ventseslav Shopov

Creative Commons License

This work is licensed under a Creative Commons Attribution 4.0 International License.

How to Cite

[1]
S. Lilov, V. Markova, N. Popov, and V. Shopov, “LONGITUDINAL STABILITY OF WHEELED MOBILE ROBOTS - DEGREE OF STABILITY”, ETR, vol. 3, pp. 147–153, Jun. 2024, doi: 10.17770/etr2024vol3.8126.