Eventos Anais de eventos
DINAME2019
DINAME2019
Torque Optimization for Stability Control of Wheeled Vehicles in Rough Terrain
Submission Author:
Vivian Suzano Medeiros , RJ , Brazil
Co-Authors:
Vivian Suzano Medeiros, Diego Gabriel Gomes Rosa, Marco Antonio Meggiolaro
Presenter: Diego Gabriel Gomes Rosa
doi://10.26678/ABCM.DINAME2019.DIN2019-0157
Abstract
This paper aims at improving dynamical stabilization of wheeled robots moving in rough terrain. Two algorithms are used to obtain the optimal torque values at each vehicle wheel for trajectories in terrains with different levels of difficulty: the interior-point method and an evolutionary algorithm. The algorithms are evaluated through simulations based on the dynamic equations of movement and from experimental tests. With these techniques, it is possible to evaluate the behavior and the limitations of a mobile robot in extreme stability conditions. This practice is useful to guarantee the safety of the equipment in highly uneven terrains, with applications in inspection and rescue mobile robots.
Keywords
torque optimization, Stability control, Mobile Robots, rough terrain
