TIP OVER AND SLIPPAGE CONTROL OF MOBILE ROBOTIC SYSTEMS OVER ROUGH TERRAIN / CONTROLE DE CAPOTAGEM E DESLIZAMENTO DE SISTEMAS ROBÓTICOS MÓVEIS EM TERRENOS ACIDENTADOS

AUTOR(ES)
DATA DE PUBLICAÇÃO

2007

RESUMO

The use of mobile robots to monitor non-accessible environments has become increasingly common in the recent years. These tasks can be either autonomous, remote-controlled, or passenger-operated. When performed in rough terrain, it is necessary to guarantee mission safety, since many times it is impossible to send a rescue party for recovery. The hybrid environmental robot presented in this thesis is a mobile robot that will face very challenging conditions, avoiding e.g. slippage in wet terrain, becoming trapped in muddy soil, and tipping over in regions with high slopes. Therefore, it is a challenging task to guarantee robot stability under such circumstances, either in autonomous or operated tasks. This thesis presents a stability control methodology for a mobile robot to perform remote sensing tasks in rough terrain. The model-based technique guarantees wheel-ground contact at all times, acting individually at the wheel motors to control the traction/friction forces. This work also addresses the design, simulation and construction aspects of a functional prototype of a mobile robot to validate the proposed approach.

ASSUNTO(S)

rough terrain robos moveis terrenos acidentados mobile robots controle de estabilidade stability control

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