Dynamic Model and Instability Evaluation of an Articulated Mobile Agri-Robot

Stability, in particular in outdoor sloped conditions, is one of the most important requirements for design safe and effective future mobile robotic platforms. In this work, the authors’ recent results on the study and development of an articulated mobile robot for agricultural and forestry activities in hilly/mountain environments are presented. First of all, a dynamic model for the stability analysis of a generic articulated platform has been designed and implemented. Then, different practical working conditions have been simulated to assess the stability of the system; possible stabilizing actions when travelling on a sloped surface on the steering angle, velocity and central joint have been finally evaluated and discussed.