TY - GEN
T1 - Design morphological changing all-terrain-rover and optimizing with genetic algorithm for enhancing mobility
AU - Kim, In Ho
AU - Lee, Jae Seong
AU - Jeong, Woo Young
AU - Kim, Jang Hyun
AU - Yang, Hyun Seok
PY - 2014
Y1 - 2014
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84906970658&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84906970658&partnerID=8YFLogxK
U2 - 10.4028/www.scientific.net/AMM.619.242
DO - 10.4028/www.scientific.net/AMM.619.242
M3 - Conference contribution
AN - SCOPUS:84906970658
SN - 9783038352051
T3 - Applied Mechanics and Materials
SP - 242
EP - 248
BT - Mechanical and Electrical Technology VI
PB - Trans Tech Publications Ltd
T2 - 6th International Conference on Mechanical and Electrical Technology, ICMET 2014
Y2 - 17 July 2014 through 18 July 2014
ER -