Multi-objective Optimization of Feedback Parameters of Wheel Terrain Interaction of an Autonomous Vehicle

被引：1

作者：

Isher, Mahesh Kumar ^{[1
]}

Sapkota, Ramchandra ^{[1
]}

Maharjan, Sanjeev ^{[1
]}

机构：

[1] Tribhuvan Univ, Inst Engn, Dept Mech & Aerosp Engn, Lalitpur, Nepal

来源：

INTERNATIONAL JOURNAL OF MECHANICAL ENGINEERING AND ROBOTICS RESEARCH | 2022年 / 11卷 / 01期

关键词：

autonomous vehicle; multi-objective optimization; pareto optimal solution; robustness; wheel- terrain interaction;

D O I：

10.18178/ijmerr.11.1.43-50

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

- Optimal force distribution analysis is an integral part of research field of autonomous vehicle research in rough terrain. A set of quasi -static force analysis method of force distribution is proposed based on three-dimensional force of the vehicle on the rough ground surface. The algorithm tries to avoid excessive slip. A simulation study in MATLAB software is carried out in a typical threedimensional terrain environment with regard to the power consumption of motors and forces of robot with related constraints. Simulation is employed on the typical threedimensional terrain model. Pareto optimal solution sets was analyzed as a major concern. Furthermore, different Pareto fronts were obtained with different percentage of noise induced into the terrain with typical characteristics.

引用

页码：43 / 50

页数：8

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