Multibody Modeling and Multi-objective Optimization of a Six- Wheeled Steerable Vehicle and Its Motion Controllers
نویسندگان
چکیده
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.
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