This paper analyzes the effect of towing a single-axle
trailer on static tip-over stability for field mobile robots on slopes.
For this purpose, this study defines altered supporting polygons
(ASP) for both tractor and trailer. TheseASPs are based on a force–
torque static equilibrium analysis that reshapes the corresponding
ground contact supporting polygons. In this way, it is possible to
estimate tip-over stability for each unit separately by projecting its
center of gravity onto itsASP, even in the case that both bodies have
different inclinations.Online implementation issues and simulation
results are discussed. Moreover, a case study is presented for the
Alacrane mobile manipulator, which carries a trailer for power
generation.
