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García, J. M., Martínez Delgado, J. E., & Yánez Amestica, P. A. (2023). Variation of navigability of a skid steer robot against changes in the morphology of coupled trailers. Ingenierías USBmed, 14(1), 3–13. https://doi.org/10.21500/20275846.5889
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Abstract
The effect produced by the coupling of trailers on the navigability of mobile robots when moving on inclined surfaces has not been extensively studied. Therefore, this research studies the influence of some factors related to the morphology of the trailers on tip-over stability, steering capacity and propensity to slip in a Skid Steer mobile robot that has two coupled trailers. Specifically and based on simulation results, the following factors were considered: type of articulation in the coupling, number of coupled bodies, length of the trailers and relative orientation between the trailers and the tractor. This, with the purpose of providing the developers of robot-trailer systems with guiding parameters that allow them to configure these systems more efficiently, and achieve better performance in terms of navigability.
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References
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J. M. García, J. L. Martínez, A. Mandow y A. García-Cerezo, «Slide-Down Prevention for Wheeled Mobile Robots on Slopes,» de 3rd International Conference on Mechatronics and Robotics Engineering, Paris, 2017.
L. Guevara, M. Michałek y F. Cheein, «Collision risk reduction of N-trailer agricultural machinery by off-track minimization,» Computers and electronics in agriculture, vol. 178, pp. 3-12, 2020.
J. L. Martínez, J. Morales, A. Mandow y A. García-Cerezo, «Steering limitations for a vehicle pulling passive trailers,» IEEE Transactions on control systems technology, vol. 16, nº 4, pp. 809-818, 2008.
J. Morales, A. Mandow, J. L. Martínez, A. Reina y A. García-Cerezo, «Driver assistance system for passive multi-trailer vehicles with haptic steering limitations on the leading unit,» Sensors, vol. 13, pp. 4485-4498, 2013.
K. Amezquita-Semprun, M. Del Rosario y P. Chen, «Dynamics model of a differential drive mobile robot towing an off-axle trailer,» Int. J. Mech. Eng. Rob. Res, vol. 7, nº 6, pp. 583-589, 2018.
P. Kassaeiyan, B. Tarvirdizadeh y K. Alipour, «Control of tractor-trailer wheeled robots considering self-collision effect and actuator saturation limitations,» Mechanical Systems and Signal Processing, vol. 127, pp. 388-411, 2019.
A. Khalaji y M. Jalalnezhad, «Control of a tractor-trailer robot subjected to wheel slip,» Journal of Multi-body Dynamics, vol. 0, nº 0, pp. 1-12, 2019.
X. Wang, J. Taghia y J. Katupitiya, «Robust model predictive control for path tracking of atracked vehicle with a steerable trailer in the presence of slip,» IFAC-PapersOnLine, vol. 49, nº 16, p. 469–474, 2016.
Z. Li, H. Cheng, J. Ma y H. Zhou, «Research on parking control of semi-trailer truck,» de 4th CAA International Conference on Vehicular Control and Intelligence, Hangzhou, 2020.
J. Morales, J. L. Martínez, A. Mandow y I. Medina, «Virtual steering limitations for reversing an articulated vehicle with off-axle passive trailers,» de 35th Annual Conference of IEEE Industrial Electronics, Porto, 2009.
J. Morales, J. L. Martínez, A. Mandow y A. García-Cerezo, «Steering the last trailer as a virtual tractor for reversing vehicles with passive on- and off-axle hitches,» IEEE Transactions on Industrial Electronics, vol. 60, nº 12, pp. 5729-5736, 2013.
J. Yuan, «Hierarchical motion planning for multisteering tractor–trailer mobile robots with on-axle hitching,» IEEE/ASME Transactions on Mechatronics, vol. 22, nº 4, pp. 1652-1662, 2017.
H. Zhao, W. Chen, S. Zhou, Z. Liu, F. Zheng y Y. Liu, «Online trajectory planning for an industrial tractor towing multiple full trailers,» de IEEE International Conference on Robotics and Automation, Paris, 2020.
M. Abroshan, «Integrated stability and tracking control system for autonomous vehicle-trailer systems,» University of Waterloo, Ontario, 2021.
S. Bako, B. Ige, A. Nasir y N. Musa, «Stability analysis of a semi-trailer articulated vehicle: a review,» International Journal of Automotive Science and Technology, vol. 5, nº 2, pp. 131-140, 2021.
A. Korayem, A. Khajepour y B. Fidan, «Vehicle-trailer lateral velocity estimation using constrained unscented transformation,» Vehicle System Dynamics, pp. 1-28, 2020.
P. Kotur, «Safe estimation of vehicle side-slip for an autonomous heavy vehicle,» Chalmers University of Technology, Göteborg, 2019.
J. Morales, J. L. Martínez, A. Mandow, J. Serón y A. García-Cerezo, «Static tip-over stability analysis for a robotic vehicle with a single-axle trailer on slopes based on altered supporting polygons,» IEEE/ASME Transactions on Mechatronics, vol. 18, nº 2, pp. 697-705, April 2013.
Y. Go, X. Yin y A. Bowling, «Navigability of multi-legged robots,» IEEE/ASME Transactions on Mechatronics, vol. 11, nº 1, pp. 1-8, 2006.
J. M. García, A. Bohórquez y A. Valero, «Suspension effect in tip-over stability and steerability of robots moving on sloping terrains,» IEEE Latin America Transactions, vol. 18, nº 8, pp. 1381-1389, 2020.
J. M. García, P. Yánez y J. E. Martínez, «Evaluación de la navegabilidad en robots móviles skid-steer con remolques pasivos moviéndose sobre terrenos inclinados,» Revista Iberoamericana de Automática e Informática industrial, 2022.
J. M. García, I. Medina, J. L. Martínez, A. García-Cerezo, A. Linares y C. Porras, «Lázaro: Robot Móvil dotado de Brazo para Contacto con el Suelo,» Revista Iberoamericana de Automática e Informática Industrial, vol. 14, p. 174–183, 2017.
J. M. García, A. Bohórquez y A. Valero, «Efecto de la suspensión en el direccionamiento de un robot skid steer moviéndose sobre terrenos duros con diferente rugosidad,» Ingenierías USBMed, vol. 11, nº 1, pp. 18-30, 2020.
M. Hatano y H. Obara, «Stability evaluation for mobile manipulators using criteria based on reaction,» de SICE Annual Conference, Fukui, 2003.
A. Meghdari, D. Naderi y M. Alam, «Neural-network-based observer for real-time tipover estimation,» Mechatronics, vol. 15, pp. 989-1004, 2005.
J. M. García, J. L. Martínez, A. Mandow y A. García-Cerezo, «Slide-Down Prevention for Wheeled Mobile Robots on Slopes,» de 3rd International Conference on Mechatronics and Robotics Engineering, Paris, 2017.
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