An efficient anti-tipping software solution with applications on VEX Robotics drivetrains

Tairan Hu; Hanhe Li

doi:10.1117/12.2641396

10 November 2022 An efficient anti-tipping software solution with applications on VEX Robotics drivetrains

Tairan Hu, Hanhe Li

Proceedings Volume 12348, 2nd International Conference on Artificial Intelligence, Automation, and High-Performance Computing (AIAHPC 2022); 123483A (2022) https://doi.org/10.1117/12.2641396
Event: 2nd International Conference on Artificial Intelligence, Automation, and High-Performance Computing (AIAHPC 2022), 2022, Zhuhai, China

Abstract

In mobile robots, one crucial factor is the ability to remain balanced. Developing mechanics for such mobile robots to be able to get back up from a fallen state if of great importance. This paper presents a potential algorithm that can efficiently solves such stated problem for mobile, four-wheel-drive robots. An inertial sensor can be used to collect data of linear acceleration, angular velocities, and rotational dynamics from the robot. The data can then be used in a PID controller program to find the maximum speed a robot can travel and both the maximum acceleration and deceleration without tipping over. An environment is simulated in WeBots for evaluation of the implementation of this algorithm on a four-wheel-drive robot.

Citation Download Citation

Tairan Hu and Hanhe Li "An efficient anti-tipping software solution with applications on VEX Robotics drivetrains", Proc. SPIE 12348, 2nd International Conference on Artificial Intelligence, Automation, and High-Performance Computing (AIAHPC 2022), 123483A (10 November 2022); https://doi.org/10.1117/12.2641396

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