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Multi-objective Optimization of Feedback Parameters of Wheel Terrain Interaction of an Autonomous Vehicle

Mahesh Kumar Isher, Ramchandra Sapkota, and Sanjeev Maharjan
Department of Mechanical and Aerospace Engineering, Institute of Engineering, Tribhuvan University, Lalitpur, Nepal

Abstract—Optimal force distribution analysis is an integral part of research field of autonomous vehicle research in rough terrain. A set of quasi-static force analysis method of force distribution is proposed based on three-dimensional force of the vehicle on the rough ground surface. The algorithm tries to avoid excessive slip. A simulation study in MATLAB software is carried out in a typical three-dimensional terrain environment with regard to the power consumption of motors and forces of robot with related constraints. Simulation is employed on the typical three-dimensional terrain model. Pareto optimal solution sets was analyzed as a major concern. Furthermore, different Pareto fronts were obtained with different percentage of noise induced into the terrain with typical characteristics.

Index Terms—autonomous vehicle, multi-objective optimization, pareto optimal solution, robustness, wheel-terrain interaction

Cite: Mahesh Kumar Isher, Ramchandra Sapkota, and Sanjeev Maharjan, "Multi-objective Optimization of Feedback Parameters of Wheel Terrain Interaction of an Autonomous Vehicle," International Journal of Mechanical Engineering and Robotics Research, Vol. 11, No. 1, pp. 43-50, January 2022. DOI: 10.18178/ijmerr.11.1.43-50

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