Rollover avoidance using a stability margin for a tracked vehicle with sub-tracks

Kazunori Ohno, Valerie Chun, Tomotake Yuzawa, Eijiro Takeuchi, Satoshi Tadokoro, Tomoaki Yoshida, Eiji Koyanagi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

10 Citations (Scopus)

Abstract

Rollover avoidance for tracked vehicles with sub-tracks is a difficult, but necessary task. In this study, rollover avoidance, specifically in the direction of the roll, is performed using a normalized energy stability margin which requires the estimation of a robot's tumble axis. However, a precise estimation of the tumble axis is very difficult because it requires accurate distributed contact information about the robot's main and sub-tracks. In this study, the authors propose a method for rollover avoidance that does not require such accurate contact information. The validity of the stability margin is shown, and it is used to realize rollover avoidance in the direction of the roll.

Original languageEnglish
Title of host publication2009 IEEE International Workshop on Safety, Security and Rescue Robotics, SSRR 2009
DOIs
Publication statusPublished - 2009 Dec 1
Event2009 IEEE International Workshop on Safety, Security and Rescue Robotics, SSRR 2009 - Denver, CO, United States
Duration: 2009 Nov 32009 Nov 6

Publication series

Name2009 IEEE International Workshop on Safety, Security and Rescue Robotics, SSRR 2009

Other

Other2009 IEEE International Workshop on Safety, Security and Rescue Robotics, SSRR 2009
Country/TerritoryUnited States
CityDenver, CO
Period09/11/309/11/6

Keywords

  • Normalized energy stability margin
  • Rollover avoidance
  • Tracked vehicle with sub-tracks

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Safety, Risk, Reliability and Quality

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