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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.
| Item URL in elib: | https://elib.dlr.de/63861/ | |||||||||
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| 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: |
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| Date: | 2010 | |||||||||
| Open Access: | Yes | |||||||||
| Gold Open Access: | No | |||||||||
| In SCOPUS: | No | |||||||||
| In ISI Web of Science: | No | |||||||||
| 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 (until 2012) > Robotic Systems | |||||||||
| Deposited By: | Klauer, Monika | |||||||||
| Deposited On: | 07 Apr 2010 08:56 | |||||||||
| Last Modified: | 31 Jul 2019 19:27 |
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