Rough Terrain Rovers Dynamics Analysis and Optimization
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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.
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2014 ◽
Vol 15
(12)
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pp. 2658-2664
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2014 ◽
Vol 20
(2)
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pp. 278-279
2012 ◽
Vol 2
(2)
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pp. 105-112
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