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

Tavakoli Nia, H ; Sharif University of Technology | 2006

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  1. Type of Document: Article
  2. DOI: 10.1007/11780519_26
  3. Publisher: Springer Verlag , 2006
  4. Abstract:
  5. 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. © Springer-Verlag Berlin Heidelberg 2006
  6. Keywords:
  7. Shellfish ; Wheels ; Directional derivative ; Dynamic optimization ; New approaches ; Nonlinear problems ; Random searches ; Rescue operations ; Rough terrains ; Rover mobility ; Genetic algorithms
  8. Source: Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) ; Volume 4020 LNAI , 2006 , Pages 290-300 ; 03029743 (ISSN); 9783540354376 (ISBN)
  9. URL: https://link.springer.com/chapter/10.1007/11780519_26