Tip-over Prevention for holonomic omnidirectional mobile robot with ADWCs

This paper addresses the tip-over prevention technique for a holonomic omnidirectional mobile robot with active dual-wheel caster assemblies (ADWCs). The tip-over estimator that takes into account the static and dynamic effects is presented. The dynamical model is derived to estimate the reaction forces at each wheel in correlation to the existing dynamical properties. A tip-over estimation using the force-Angle stability measure is used to evaluate these forces and predict the candidate of the tip-over axis and its tipping direction. A counter motion is applied against the estimated tip-over direction to enhance the stability metric and prevent the tip-over incident. Simulation results are given to demonstrate the performance of this approach.