Robustness towards application of multi-objective optimisation for autonomous off-road vehicle on rough terrain Online publication date: Thu, 27-Nov-2014
by Mahesh Kumar Isher; He Xu; He Long
International Journal of Mechatronics and Automation (IJMA), Vol. 2, No. 2, 2012
Abstract: Force distribution emerged as a major concern in the case of autonomous vehicle because of its importance of control in unknown environment. Tipover and deadlocks are vital problems arising in remote operations of the vehicle. An evolutionary approach was used to attain multiple trade-off solutions, which minimised force variations along with the maximisation of draw bar pull and torque within optimisation of available power. Robustness towards Pareto optimal solutions was analysed as a major concern. Furthermore, different Pareto fronts was obtained with different noise induced into the terrain characteristics mainly soil cohesion (c), shear deformation modulus (k) and internal friction angle (phi). Result presented shows that the noise intensity > 2% impacts greater in the solution quality should be taken as less robust solution and can be implemented to the control algorithm.
Existing subscribers:
Go to Inderscience Online Journals to access the Full Text of this article.
If you are not a subscriber and you just want to read the full contents of this article, buy online access here.Complimentary Subscribers, Editors or Members of the Editorial Board of the International Journal of Mechatronics and Automation (IJMA):
Login with your Inderscience username and password:
Want to subscribe?
A subscription gives you complete access to all articles in the current issue, as well as to all articles in the previous three years (where applicable). See our Orders page to subscribe.
If you still need assistance, please email subs@inderscience.com
Our Blog 
Follow us on Twitter 
Visit us on Facebook