Tip-over prediction for omnidirectional mobile robot

This paper proposes a holonomic omnidirectional mobile robot with active dual-wheel caster assemblies as a robotic transport vehicle. With concern to the sudden dynamic changes during maneuver, the tip-over stability monitoring is very important. This work presents the estimation technique of the tip-over direction and the stability measurement. The dynamical model of the omnidirectional mobile robot is derived to estimate the net force from the supporting reaction force at each wheel which is caused by the inertial and external forces. The direction of tipping and the stability metric is estimated using the force-angle stability mea- sure (FASM). The performance of the tip-over prediction for an omnidirectional mobile robot with active dual-wheel assemblies is shown by the conducted simulations.