Design morphological changing all-terrain-rover and optimizing with genetic algorithm for enhancing mobility

In Ho Kim, Jae Seong Lee, Woo Young Jeong, Jang Hyun Kim, Hyun Seok Yang

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper proposes a design of morphological changing all-terrain-rover as new concept of hybrid-type mobile robot for enhancing mobility. Mobility evaluation is performed by mechanical theories, and its calculating methods are used for simulations. A feasibility of suggested design of all-terrain-rover is investigated by simulation. After verifying feasibility, this paper applies a PD control with the genetic algorithm as optimizing gains for enhancing mobility. The mobility is able to verify by fitness value from simulation results, and it shows that proposed rover can overcome a mobility limitation of former designed rovers.

Original languageEnglish
Title of host publicationMechanical and Electrical Technology VI
PublisherTrans Tech Publications Ltd
Pages242-248
Number of pages7
ISBN (Print)9783038352051
DOIs
Publication statusPublished - 2014 Jan 1
Event6th International Conference on Mechanical and Electrical Technology, ICMET 2014 - Bangkok, Thailand
Duration: 2014 Jul 172014 Jul 18

Publication series

NameApplied Mechanics and Materials
Volume619
ISSN (Print)1660-9336
ISSN (Electronic)1662-7482

Other

Other6th International Conference on Mechanical and Electrical Technology, ICMET 2014
CountryThailand
CityBangkok
Period14/7/1714/7/18

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All Science Journal Classification (ASJC) codes

  • Engineering(all)

Cite this

Kim, I. H., Lee, J. S., Jeong, W. Y., Kim, J. H., & Yang, H. S. (2014). Design morphological changing all-terrain-rover and optimizing with genetic algorithm for enhancing mobility. In Mechanical and Electrical Technology VI (pp. 242-248). (Applied Mechanics and Materials; Vol. 619). Trans Tech Publications Ltd. https://doi.org/10.4028/www.scientific.net/AMM.619.242