Professor of Mechanical Engineering and Smart Structures, School of Computing Engineering and Mathematics, Western Sydney University, Australia. His research interests cover Industry 4.0, Additive Manufacturing, Advanced Engineering Materials and Structures (Metals and Composites), Multi-scale Modelling of Materials and Structures, Metal Forming and Metal Surface Treatment.
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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