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Rough terrain rovers dynamics analysis and optimization

Tavakoli Nia, H ; Sharif University of Technology | 2005

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  1. Type of Document: Article
  2. Publisher: 2005
  3. Abstract:
  4. 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 rover in ADAMS® software package. Copyright © 2005 by ASME
  5. Keywords:
  6. Computer software ; Genetic algorithms ; Nonlinear systems ; Optimization ; Problem solving ; Rough terrain rovers dynamics ; Software package ; Wheel-ground interfaces ; Unmanned vehicles
  7. Source: 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)
  8. URL: https://asmedigitalcollection.asme.org/IDETC-CIE/proceedings-abstract/IDETC-CIE2005/47446/903/314820?redirectedFrom=PDF