Modeling and multiobjective optimization of traction performance for autonomous wheeled mobile robot in rough terrain

Ozoemena Anthony ANI; He XU; Yi-ping SHEN; Shao-gang LIU; Kai XUE

doi:10.1631/jzus.C12a0200

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Modeling and multiobjective optimization of traction performance for autonomous wheeled mobile robot in rough terrain

Computer & Automation | Updated：2022-12-09

- Modeling and multiobjective optimization of traction performance for autonomous wheeled mobile robot in rough terrain
- Modeling and multiobjective optimization of traction performance for autonomous wheeled mobile robot in rough terrain
- Frontiers of Information Technology & Electronic Engineering Vol. 14, Issue 1, Pages: 11-29(2013)
- Affiliations：
  
  College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, China
- Author bio：
  
  He XU, E-mail: railway_dragon@163.com
- Funds：
- DOI：10.1631/jzus.C12a0200
  CLC： TP24
- Received：06 August 2012，
  
  Revised：2012-12-13，
  
  Published：2013-01
- Accepted：
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Ozoemena Anthony ANI, He XU, Yi-ping SHEN, et al. Modeling and multiobjective optimization of traction performance for autonomous wheeled mobile robot in rough terrain[J]. Frontiers of Information Technology & Electronic Engineering, 2013, 14(1): 11-29.
DOI：

Ozoemena Anthony ANI, He XU, Yi-ping SHEN, et al. Modeling and multiobjective optimization of traction performance for autonomous wheeled mobile robot in rough terrain[J]. Frontiers of Information Technology & Electronic Engineering, 2013, 14(1): 11-29. DOI： 10.1631/jzus.C12a0200.

摘要

Abstract

Application of terrain-vehicle mechanics for determination and prediction of mobility performance of autonomous wheeled mobile robot (AWMR) in rough terrain is a new research area currently receiving much attention for both terrestrial and planetary missions due to its significant role in design

evaluation

optimization

and motion control of AWMRs. In this paper

decoupled closed form terramechanics considering important wheel-terrain parameters is applied to model and predict traction. Numerical analysis of traction performance in terms of drawbar pull

tractive efficiency

and driving torque is carried out for wheels of different radii

widths

and lug heights

under different wheel slips. Effects of normal forces on wheels are analyzed. Results presented in figures are discussed and used to draw some conclusions. Furthermore

a multiobjective optimization (MOO) method for achieving optimal mobility is presented. The MOO problem is formulated based on five independent variables including wheel radius

width

lug height

wheel slip

and wheel rotation angle

with three objectives to maximize drawbar pull and tractive efficiency while minimizing the dynamic traction ratio. Genetic algorithm in MATLAB is used to obtain optimized wheel design and traction control parameters such as drawbar pull

tractive efficiency

and dynamic traction ratio required for good mobility performance. Comparison of MOO results with experimental results shows a good agreement. A method to apply the MOO results for online traction and mobility prediction and control is discussed.

关键词

Keywords

references

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