Variable Robot Geometry Optimization Method to Avoid Tip Over Situations During Slow Motion on Unknown Terrains

This paper presents a parametrized stability control method for special slow motion field mobile robots, based on use cases from border surveillance. The concept uses the centre of gravity (COG) as the virtual centre of motion (VCM). The simplified robot geometry is an input parameter of the model, so it can work with different types of mobile robots, like holonomic-wheeled, differential-wheeled, steered, tracked, wheeled-tracked, segmented, etc. structures. This method resulted in the implementation of a flexible and universal control algorithm for transformable and hybrid drive mobile robots, where every parameter can be changed and recalculated for different applications or even in discrete time steps during the motion at a 3D path. The velocity reference, the angular velocity reference and the optimization parameter (for example gravity compensation) of the robot can be prescribed. The model was implemented in MATLAB and can be compiled to C for measurements and validation with test robots.