Research of tipover detection and avoidance algorithms for mobile robots

Abstract

The development of modern mobile robots is often connected with advanced reliability, especially in undetermined conditions. One widespread reason for robotic mission failures is robot tip-over. In this paper, a method to avoid tip-over is proposed based on the existing tip-over detection methods in application to a mobile robot with two arms. The method has been validated in Matlab/CoppeliaSim co-simulation environment.