Abstract
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.
Highlights
If the combination of the reference speed and articulation angle is above the solid line in Figure 10, the load transfer ratio (LTR) is larger than 1, which means that the autonomous electric road sweepers (AERS) rolls over
Reason,asthe modeled a bicycle model chattering in the traction shown in was
Thiswith is caused by the fact with that the Dugoff tire model
Summary
Road sweepers are used to clean urban roadsides. They originated in the17th century. There have been few issues in terms of lateral stability or yaw moment control, which are needed to stabilize the snaking phenomenon that is inherent in vehicles with AFS [16] This vehicle has rear-wheel drive with a single motor and a pneumatic braking system without an independent braking function. The rear body of the ARES has no suspension This is because the AERS is an autonomous vehicle that can drive without a driver. All of the the actuators used in previous research cannot be used for rollover prevention because the AERS only has rear-wheel drive with a single motor. With those controllers, the rollover prevention scheme is proposed.
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