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Multibody Modeling and Multi-Objective Optimization of a Six-Wheeled Steerable Vehicle and its Motion Controllers

Leite, Alexandre C. and Schäfer, Bernd (2010) Multibody Modeling and Multi-Objective Optimization of a Six-Wheeled Steerable Vehicle and its Motion Controllers. 1st esa Workshop on Multibody Dynamics for Space Applications, 02.-03. Feb. 2010, Noordwijk, Niederlande.

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Abstract

This work describes multibody modelling and multi-objective optimization of a six-wheeled vehicle and its motion controllers. Compliant contact models are used in order to suitably represent the rolling/slipping regime at the wheelterrain interaction. The multibody dynamic simulation model simulates multiple cases of the vehicle travelling on a soft terrain. The parameters of this model can be adjusted and its performance calculated through some criteria. Since there are several performance criteria, the problem was formulated as a multi-objective/multi-case optimization problem. Finally Monte Carlo simulation and Anti-optimization are used to assess robustness of the obtained results.

Document Type:Conference or Workshop Item (Speech, Paper)
Title:Multibody Modeling and Multi-Objective Optimization of a Six-Wheeled Steerable Vehicle and its Motion Controllers
Authors:
AuthorsInstitution or Email of Authors
Leite, Alexandre C.Alexandre.carvalholeite@DLR.de
Schäfer, BerndBernd.Schaefer@DLR.de
Date:2010
Status:Published
Keywords:multibody dynamics, multi-objective optimization, terramechanics, planetary rover, mobile robotics
Event Title:1st esa Workshop on Multibody Dynamics for Space Applications
Event Location:Noordwijk, Niederlande
Event Type:international Conference
Event Dates:02.-03. Feb. 2010
Organizer:estec
HGF - Research field:Aeronautics, Space and Transport (old)
HGF - Program:Space (old)
HGF - Program Themes:W SY - Technik für Raumfahrtsysteme
DLR - Research area:Space
DLR - Program:W SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):W - Robotische Explorationstechnologie (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics > Robotic Systems
Deposited By: Monika Klauer
Deposited On:07 Apr 2010 08:56
Last Modified:07 Apr 2010 08:56

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