Rollover Prevention Control for Autonomous Electric Road Sweeper

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.

Improvement of Dust Particle Suction Efficiency by Controlling the Airflow of a Regenerative Air Sweeper

“…The flow simulation results for the dust suction mouth provide practical guidance for flow simulations. By monitoring the cleaning system, it was found that the location of the waste on the road surface and the distance between the suction nozzle and particles are important in the process of collecting particles and debris [27,28]. A sweeping centrifugal fan creates a pressure difference in the collection of debris and dust on the road, which allows the removal of debris and dust from the road [29,30].…”