Trajectory optimisation for increased stability of mobile robots operating in uneven terrains

Beck, C; Miró, JV; Dissanayake, G

Trajectory optimisation for increased stability of mobile robots operating in uneven terrains

Beck, C Miró, JV

Dissanayake, G

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Publication Type:: Conference Proceeding
Citation:: 2009 IEEE International Conference on Control and Automation, ICCA 2009, 2009, pp. 1913 - 1919
Issue Date:: 2009-12-01

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Field	Value	Language
dc.contributor.author	Beck, C	en_US
dc.contributor.author	Miró, JV https://orcid.org/0000-0002-0083-7797	en_US
dc.contributor.author	Dissanayake, G https://orcid.org/0000-0002-7992-0680	en_US
dc.date.issued	2009-12-01	en_US
dc.identifier.citation	2009 IEEE International Conference on Control and Automation, ICCA 2009, 2009, pp. 1913 - 1919	en_US
dc.identifier.isbn	9781424447060	en_US
dc.identifier.uri	http://hdl.handle.net/10453/11024
dc.description.abstract	A mechanism capable of enhancing the safety of paths followed by mobile robots which significantly modify their mass distribution while operating in uneven terrains is presented. This is the case, for instance, of kinematically reconfigurable platforms or robots equipped with manipulator arms. For a given path, a trajectory optimiser that finds suitably "safer" paths in terms of tip-over prevention and equal force distribution over the supporting contact points is proposed. Other kinematic considerations such as operating within given nominal joint positions or low energy motions can also be exploited to improve system stability while being deployed in specific domains such as security, rescue, etc. Simulation results of the proposed optimised motion planner for an iRobot Explorer tracked vehicle are presented. They are also compared with a non-optimised planners to show the validity of the approach. ©2009 IEEE.	en_US
dc.relation.ispartof	2009 IEEE International Conference on Control and Automation, ICCA 2009	en_US
dc.relation.isbasedon	10.1109/ICCA.2009.5410513	en_US
dc.title	Trajectory optimisation for increased stability of mobile robots operating in uneven terrains	en_US
dc.type	Conference Proceeding
utslib.for	0913 Mechanical Engineering	en_US
dc.location.activity	Christchurch, NZ	en_US
dc.location.activity	Christchurch, NEW ZEALAND
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Mechanical and Mechatronic Engineering
pubs.organisational-group	/University of Technology Sydney/Strength - CAS - Centre for Autonomous Systems
utslib.copyright.status	open_access
pubs.publication-status	Published	en_US

Abstract:

A mechanism capable of enhancing the safety of paths followed by mobile robots which significantly modify their mass distribution while operating in uneven terrains is presented. This is the case, for instance, of kinematically reconfigurable platforms or robots equipped with manipulator arms. For a given path, a trajectory optimiser that finds suitably "safer" paths in terms of tip-over prevention and equal force distribution over the supporting contact points is proposed. Other kinematic considerations such as operating within given nominal joint positions or low energy motions can also be exploited to improve system stability while being deployed in specific domains such as security, rescue, etc. Simulation results of the proposed optimised motion planner for an iRobot Explorer tracked vehicle are presented. They are also compared with a non-optimised planners to show the validity of the approach. ©2009 IEEE.

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http://hdl.handle.net/10453/11024