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rough-terrain-rovers-dynamics
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Rough terrain rovers dynamics analysis and optimization
, Article DETC2005: ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, Long Beach, CA, 24 September 2005 through 28 September 2005 ; Volume 7 B , 2005 , Pages 903-909 ; 0791847446 (ISBN) ; Alemohammad, S. H ; Bagheri, S ; Khiabani, R. H ; Meghdari, A ; Sharif University of Technology
2005
Abstract
In this paper a new approach to dynamics optimization of rough terrain rovers 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. Dynamical equations are obtained using Kane's method. Finally, the results are verified by modeling of the...