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

页码：290 / 300

页数：11

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