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Design of an active device for controlling lateral stability of fast mobile robot

Published online by Cambridge University Press:  15 April 2015

M. Krid ,
F. Benamar  and
Z. Zamzami
M. Krid*
Affiliation:
Industrial Engineering, College of Engineering, King Saud University, Riyadh, KSA
F. Benamar
Affiliation:
Sorbonne Universités, UPMC University, Paris 06, UMR 7222, Institut des Systèmes Intelligents et Robotiques ISIR, F-75005, Paris, France. E-mails: amar@isir.upmc.fr, Zamzami@isir.upmc.fr CNRS, UMR 7222, ISIR, F-75005, Paris, France
Z. Zamzami
Affiliation:
Sorbonne Universités, UPMC University, Paris 06, UMR 7222, Institut des Systèmes Intelligents et Robotiques ISIR, F-75005, Paris, France. E-mails: amar@isir.upmc.fr, Zamzami@isir.upmc.fr
*
*Corresponding author. E-mail: med.krid@gmail.com
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Summary

Motivated by the trade-off between speed and stability for off-road navigation, a novel active anti-roll system has been developed in the context of a multidisciplinary project which aims at developing a high-speed and agile autonomous off-road rover. This paper presents the design, simulation and experimental validation of an active anti-roll system and its associated control. The proposed system possess the advantage of having a modular design that can be installed on any off-road chassis with independent suspensions. The proposed system controls directly the roll angle of the rover which is usually uncontrollable in conventional vehicles, hence improving off-road stability while maneuverings at high speed over uneven terrain. Furthermore, the control of the proposed active anti-roll system is based on a model predictive control (MPC) for the roll dynamics, which minimizes the load transfer during cornering and the energy consumed by the actuators. The control model is based on a dynamic model of the rover and on a stability criteria defined by the lateral load transfer (LLT). Moreover, this paper presents, simulation results from the high fidelity virtual platform modeled in MSC.Adams®, as well as, results from recent field tests demonstrating the effectiveness of a hydraulic active anti-roll system mounted on, an especially developed experimental platform, SPIDO ROBOT while cornering at a high speed reaching 8 m/s.

Keywords

Active anti-Roll systemRoll dynamicsVehicle stabilityLateral load transfer stability criterion
Type
Articles
Information
Robotica , Volume 34 , Issue 11 , November 2016 , pp. 2629 - 2651
Copyright
Copyright © Cambridge University Press 2015 

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