| 摘要 |
A method 600 and robotic vehicle (figure 2) is disclosed with a tip over prevention means. The method comprises determining a stability footprint, or support polygon, attitude and orientation of said vehicle 608. Computing a centre of gravity (CoG) for the robotic vehicle 612. Projecting the CoG onto the stability footprint 616. The stability footprint may use the orientation to translate the footprint into a global frame of reference. Determining if the CoG is within an acceptable region of the footprint 618, then calculating a new configuration for a moveable component 620, such as a manipulator, if the determination is made that the CoG is not within the acceptable region. Then controlling the moveable component into the new configuration 622. This method is carried out by an electronic circuit located on the robotic vehicle. The invention may also determine if the configuration of the moveable component is optimal for stability (Figure 6B), if the CoG is within an acceptable region. The vehicle may also have a constraint parameter 606 for constraining the movement. This method helps prevent a robot from rolling over due to instability and causing damage or not being able to operate. |
