Design Morphological Changing All-Terrain-Rover and Optimizing with Genetic Algorithm for Enhancing Mobility

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.

• Periodical: Applied Mechanics and Materials (Volume 619)
• Pages: 242-248
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.619.242
• Online since: August 2014
• Authors: In Ho Kim*, Jae Seong Lee, Woo Young Jeong, Jang Hyun Kim, Hyun Seok Yang
• Keywords: All-Terrain-Rover, Genetic Algorithm (GA), Mobile Robot, Mobility, Morphological Changing

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