Trade-Offs Design of Mobile Robot Based on Multi-Objective Optimization with Respect to Terramechanics

被引：2
|
作者：
Xu, He [1 ]
Tan, Dawei [2 ]
Zhang, Zhenyu [2 ]
Gao, Zhenguo [3 ]
Peng, Gaoliang [4 ]
Li, Chao [2 ]
机构：
[1] Harbin Engn Univ, Coll Mech & Elect Engn, Harbin 150001, Peoples R China
[2] Harbin Engn Univ, Harbin 150001, Peoples R China
[3] Harbin Engn Univ, Dept Automat, Harbin 150001, Peoples R China
[4] Harbin Inst Technol, Sch Mech & Elect Engn, Harbin 150001, Peoples R China
来源：
2009 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS, VOLS 1-3 | 2009年
基金：
高等学校博士学科点专项科研基金; 美国国家科学基金会;
关键词：
D O I：
10.1109/AIM.2009.5230007
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
As terrain provides the only and powerful thrust to a mobile robot, design with consideration to terrain is most important, particularly for the robot in sandlot or the soft soiled environment. A trade-off design based Terramechanics about a reconfigurable mobile robot is proposed based on Multi-Objective Optimization (MOO) with respect to Terramechanics. A novel analytic projection method is proposed to build the model of stability, mass of robot and the drive torque respectively with non-linear characteristics. A minimum-maximum method is also applied to obtain the optimal configurations parameters for design synthesis.
引用
收藏
页码：239 / +
页数：2
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