Intelligent motion control of bots using hill hold assistance mechanism

摘要

The power consumption and torque constraints in the motors of vehicles pose a restriction to their ability to traverse steep slopes and hills that have steep curvature. When the vehicle is stopped and then started on a hill or slope, there is a tendency to roll-back before moving forward. These roll-backs pose a threat when the preceding vehicle is close by and can lead to accidents. Hence solutions have emerged to avoid slipping of vehicles on steep sections of hills. The objective of this work is to present a stand-alone hill hold assist function to prevent the robotic vehicles from roll-backs while climbing a steep hill. The adaptive motion planning of the bots is illustrated using the scenario where the vehicle is standstill at the base of a hill. The bot should first alter its direction so that it gathers sufficient momentum before traversing the hill. The vehicle equipped with the stand alone Hill hold functionality can ascend smoothly on a slope, without skidding.