An analysis of rollover stability measurement for high-speed mobile robots

Mobile robots and passenger vehicles are frequently required to operate at high speeds, on terrain that is sloped or uneven. These systems can be susceptible to rollover, particularly during severe maneuvers. This paper presents an analysis of rollover stability measurement for mobile robots operating at high speeds. The analysis examines the accuracy of a commonly accepted rollover stability metric during operation on sloped and rough terrain. The effects of sensor placement, center-of-gravity position estimation error, and wheel dynamics are examined. It is shown that these effects can have a significant impact on stability measurement during high speed operation