Slip and Tip-over Prediction Map for Stable Driving of Mobile Robot

In order to operate a mobile robot on outdoor terrain, it is necessary to predict the slip and tip-over. The slip and tip-over are factors that greatly affect the success or failure of the mission in the mobile robot. In this paper, we propose a method to make a prediction map by analyzing slip and tip-over of mobile robot in sloped terrain. We use the friction coefficient of two materials to predict the slip of the mobile robot and use the support polygon for the tip-over prediction. The slope of the terrain is estimated by applying the principal component analysis (PCA) to the measured point clouds. As a result, the prediction map is created based on the slope of the terrain, slip and tip-over predictions.