TY - GEN
T1 - Trade-offs design of mobile robot based on multi-objective optimization with respect to terramechanics
AU - Xu, He
AU - Tan, Dawei
AU - Zhang, Zhenyu
AU - Gao, Zhenguo
AU - Peng, Gaoliang
AU - Li, Chao
PY - 2009
Y1 - 2009
N2 - 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.
AB - 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.
UR - https://www.scopus.com/pages/publications/70350441986
U2 - 10.1109/AIM.2009.5230007
DO - 10.1109/AIM.2009.5230007
M3 - 会议稿件
AN - SCOPUS:70350441986
SN - 9781424428533
T3 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
SP - 239
EP - 244
BT - 2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009
T2 - 2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009
Y2 - 14 July 2009 through 17 July 2009
ER -