elib
DLR-Header
DLR-Logo -> http://www.dlr.de
DLR Portal Home | Imprint | Privacy Policy | Contact | Deutsch
Fontsize: [-] Text [+]

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.

[img] PDF
186kB

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/
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 AuthorsAuthors ORCID iD
Leite, Alexandre C.Alexandre.carvalholeite (at) DLR.deUNSPECIFIED
Schäfer, BerndBernd.Schaefer (at) DLR.deUNSPECIFIED
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

Repository Staff Only: item control page

Browse
Search
Help & Contact
Information
electronic library is running on EPrints 3.3.12
Copyright © 2008-2017 German Aerospace Center (DLR). All rights reserved.