Design, dynamic analysis and optimization of a rover for rescue operations

被引：0
|
作者：
Nia, Hadi Tavakoli [1 ]
Alemohammad, Seyed Hamidreza [1 ]
Bagheri, Saced [1 ]
Khiabani, Reza Hajiaghaee [1 ]
Meghdari, Ali [1 ]
机构：
[1] Sharif Univ Technol, Dept Mech Engn, Ctr Excellence Desing Robot & Automat, Tehran, Iran
来源：
ROBOCUP 2005: ROBOT SOCCER WORLD CUP IX | 2006年 / 4020卷
关键词：
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
In this paper a new approach to dynamic optimization of a rough terrain rover is introduced. Since rover wheels traction has a significant role in rover mobility, optimization is based on the minimization of traction at rover wheel-ground interfaces. The method of optimization chosen is Genetic Algorithm (GA) which is a directed random search technique along with the usual optimization based on directional derivatives. GA is a suitable and efficient method of optimization for nonlinear problems. The procedure is applied on a specific rough terrain rover called CEDRA-I Shrimp Rover. The present work resulted in design and manufacturing of the optimized rover called CEDRA-II Shrimp Rover.
引用
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页码：290 / 300
页数：11
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