Professor of School of Engineering, Design and Built Environment, 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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