A mechanism capable of enhancing the safety of paths followed by mobile robots which significantly modify their mass distribution while operating in uneven terrains is presented. This is the case, for instance, of kinematically reconfigurable platforms or robots equipped with manipulator arms. For a given path, a trajectory optimiser that finds suitably ÃÂÿsaferÃÂÿ paths in terms of tip-over prevention and equal force distribution over the supporting contact points is proposed. Other kinematic considerations such as operating within given nominal joint positions or low energy motions can also be exploited to improve system stability while being deployed in specific domains such as security, rescue, etc. Simulation results of the proposed optimised motion planner for an iRobot Explorer tracked vehicle are presented. They are also compared with a non-optimised planners to show the validity of the approach.
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