Dynamic stability of off-road vehicles: A geometric approach

Moshe P. Mann, Zvi Shiller

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

10 Scopus citations

Abstract

Dynamic stability reflects the vehicle's ability to traverse uneven terrain at high speeds. It is determined from the set of admissible speeds and tangential accelerations of the center of mass along the path, subject to the ground force constraints and the geometric path constraints. This paper presents a geometric procedure for computing the set of admissible speeds and accelerations of a planar all-wheel drive vehicle. It first determines the boundaries of the set of resultant forces at the center of mass that satisfy the ground force constraints and the equations of motion along the path. This set is then mapped to the set of feasible speeds and accelerations along the path, from which the dynamic stability margin (DSM) is determined. A byproduct of this procedure is a static stability margin (SSM) that reflects the vehicle's ability to accelerate, or decelerate, at zero speed. Both stability margins are useful as cost measures for physics-based motion planning over rough terrain. The approach is demonstrated for a planar vehicle moving on a sinusoidal track.

Original languageEnglish
Title of host publicationProceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Pages3705-3710
Number of pages6
DOIs
StatePublished - 27 Dec 2006
Externally publishedYes
Event2006 IEEE International Conference on Robotics and Automation, ICRA 2006 - Orlando, FL, United States
Duration: 15 May 200619 May 2006

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2006
ISSN (Print)1050-4729

Conference

Conference2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Country/TerritoryUnited States
CityOrlando, FL
Period15/05/0619/05/06

Keywords

  • Dynamic stability
  • Mobile robots
  • Off-road vehicles

ASJC Scopus subject areas

  • Software
  • Artificial Intelligence
  • Electrical and Electronic Engineering
  • Control and Systems Engineering

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