Rollover Prevention Control for Autonomous Electric Road Sweeper

This paper presents a method to prevent the rollover of autonomous electric road sweepers (AERS). AERS have an articulated frame steering (AFS) mechanism. Moreover, the heights of the center of gravity of the front and rear bodies are high. As such, they are prone to rolling over at low speeds and a...

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Autores principales:	Seongjin Yim, Wongun Kim
Formato:	article
Lenguaje:	EN
Publicado:	MDPI AG 2021
Materias:	autonomous electric road sweeper articulated frame steering bicycle model load transfer ratio rollover prevention control Electronics TK7800-8360
Acceso en línea:	https://doaj.org/article/8ab3eba30fd64d34b71d71ab8a6fb626
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id	oai:doaj.org-article:8ab3eba30fd64d34b71d71ab8a6fb626
record_format	dspace
spelling	oai:doaj.org-article:8ab3eba30fd64d34b71d71ab8a6fb6262021-11-25T17:24:40ZRollover Prevention Control for Autonomous Electric Road Sweeper10.3390/electronics102227902079-9292https://doaj.org/article/8ab3eba30fd64d34b71d71ab8a6fb6262021-11-01T00:00:00Zhttps://www.mdpi.com/2079-9292/10/22/2790https://doaj.org/toc/2079-9292This paper presents a method to prevent the rollover of autonomous electric road sweepers (AERS). AERS have an articulated frame steering (AFS) mechanism. Moreover, the heights of the center of gravity of the front and rear bodies are high. As such, they are prone to rolling over at low speeds and at small articulation angles. A bicycle model with a nonlinear tire model was used as a vehicle model for AERS. Using that vehicle model, path tracking and speed controllers were designed in order to follow a predefined path and speed profile, respectively. To check the rollover propensity of AERS, load transfer ratio (LTR) based the rollover analysis was completed. Based on the results of the analysis, a rollover prevention scheme was proposed. To validate the proposed scheme, a simulation was conducted using a U-shaped path under constant speed conditions. From the simulation, it was shown that the proposed scheme is effective in preventing AERS from rolling over.Seongjin YimWongun KimMDPI AGarticleautonomous electric road sweeperarticulated frame steeringbicycle modelload transfer ratiorollover prevention controlElectronicsTK7800-8360ENElectronics, Vol 10, Iss 2790, p 2790 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	autonomous electric road sweeper articulated frame steering bicycle model load transfer ratio rollover prevention control Electronics TK7800-8360
spellingShingle	autonomous electric road sweeper articulated frame steering bicycle model load transfer ratio rollover prevention control Electronics TK7800-8360 Seongjin Yim Wongun Kim Rollover Prevention Control for Autonomous Electric Road Sweeper
description	This paper presents a method to prevent the rollover of autonomous electric road sweepers (AERS). AERS have an articulated frame steering (AFS) mechanism. Moreover, the heights of the center of gravity of the front and rear bodies are high. As such, they are prone to rolling over at low speeds and at small articulation angles. A bicycle model with a nonlinear tire model was used as a vehicle model for AERS. Using that vehicle model, path tracking and speed controllers were designed in order to follow a predefined path and speed profile, respectively. To check the rollover propensity of AERS, load transfer ratio (LTR) based the rollover analysis was completed. Based on the results of the analysis, a rollover prevention scheme was proposed. To validate the proposed scheme, a simulation was conducted using a U-shaped path under constant speed conditions. From the simulation, it was shown that the proposed scheme is effective in preventing AERS from rolling over.
format	article
author	Seongjin Yim Wongun Kim
author_facet	Seongjin Yim Wongun Kim
author_sort	Seongjin Yim
title	Rollover Prevention Control for Autonomous Electric Road Sweeper
title_short	Rollover Prevention Control for Autonomous Electric Road Sweeper
title_full	Rollover Prevention Control for Autonomous Electric Road Sweeper
title_fullStr	Rollover Prevention Control for Autonomous Electric Road Sweeper
title_full_unstemmed	Rollover Prevention Control for Autonomous Electric Road Sweeper
title_sort	rollover prevention control for autonomous electric road sweeper
publisher	MDPI AG
publishDate	2021
url	https://doaj.org/article/8ab3eba30fd64d34b71d71ab8a6fb626
work_keys_str_mv	AT seongjinyim rolloverpreventioncontrolforautonomouselectricroadsweeper AT wongunkim rolloverpreventioncontrolforautonomouselectricroadsweeper
_version_	1718412420569890816

Rollover Prevention Control for Autonomous Electric Road Sweeper

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