A Novel Method for Prediction of Mobile Robot Maneuvering Spaces

Patrick N. Currier, Embry Riddle Aeronautical University - Daytona Beach
Alfred L. Wicks

Journal of Terramechanics: Applications to Terrain-Vehicle Systems is the leading international journal serving the multidisciplinary global off-road vehicle and soil-working machinery industries, and related user community and governmental agencies.

The Journal provides a forum for those involved in research, development, design, innovation, testing, application and utilization of off-road vehicles and soil-working machinery. It presents a cross-section of technical papers, review, comments and discussion in the field.



As the operational uses of mobile robots continue to expand, it becomes useful to be able to predict the admissible maneuvering space to prevent the robot from executing unsafe maneuvers. A novel method is proposed to address this need by using force-moment diagrams to characterize the robot’s maneuvering space in terms of path curvature and curvature rate. Using the proposed superposition techniques, these diagrams can then be transformed in real-time to provide a representation of the permissible maneuvering space while allowing for changes in the robot’s loading and terrain conditions. Simulation results indicate that the technique can be applied to determine the appropriate maneuvering space for a given set of loading conditions, longitudinal acceleration, and tire-ground coefficient of friction. This may lead to potential expansion in the ability to integrate predictive vehicle dynamics into autonomous controllers for mobile robots and a corresponding potential to safely increase operating speeds.