The Effect of Terrain Inclination on Performance and the Stability Region of Two-Wheeled Mobile Robots

[摘要] Two-wheeled mobile robots (TWMRs) have a capability of avoiding the tip-over problem on inclined terrain by adjusting the centre of mass position of the robot body. The effects of terrain inclination on the robot performance are studied to exploit this capability. Prior to the real-time implementation of position control, an estimation of the stability region of the TWMR is essential for safe operation. A numerical method to estimate the stability region is applied and the effects of inclined surfaces on the performance and stability region of the robot are investigated. The dynamics of a TWMR is modelled on a general uneven terrain and reduced for cases of inclined and horizontal flat terrain. A full state feedback (FSFB) controller is designed based on optimal gains with speed tracking on a horizontal flat terrain. The performance and stability regions are simulated for the robot on a horizontal flat and inclined terrain with the same controller. The results endorse a variation in equilibrium points and...

[学科分类] 自动化工程

[关键词] Two-wheeled robot;Dynamic model;Control;Region of attraction;Inclined terrain