Evaluation Criterion of Wheeled Mobile Robotic Platforms on Grounds: A Survey

초록

The field of mobile robots is more in the limelight these days, in the view of rescue, searching, transporting, etc missions. Evaluating the mobile robot becomes also important. It is because the user should know the right specification of the robot for the operation at the right place or environment. This paper suggests a combination of several performance indexes with some examples. In this paper, three major categories are given, which are fluctuation, tip-over-stability, and terrainability indexes. First, the fluctuation is described with a posture variation index and a root mean squared acceleration. By these indexes, the user can define and validate the performance of the mobile platform and the user can handle the right way to achieve a goal. Second, The tip over-stability can be explained with an energy stability margin, a static stability margin, and a force-angle stability margin. The third, the terrainability, which means driving ability, contains a velocity constraint violation and a friction requirement.

키워드