Tip-over prevention for a holonomic omnidirectional mobile robot with ADWCs using SGCMG

In this paper, we present the tip-over prevention technique for a holonomic omnidirectional mobile robot with active dual wheel caster assemblies (ADWCs). The dynamical model is derived to estimate the reaction forces at each wheel in correlation to the existing dynamical properties. A tip-over prediction using the force-angle stability measure (FASM) is used to evaluate these forces and estimate the tip-over axis and its direction. A counter motion is applied against the estimated tip-over direction to prevent the tip-over incident. Simulation results are given to demonstrate the performance of this approach.