Title :
Optimization of mobile robot based on projection method and Harmony Search
Author :
Xu, He ; Zhang, Zhenyu ; Tan, Dawei ; Gao, Xiaozhi ; Peng, Gaoliang ; Yu, Shuanghe
Author_Institution :
Coll. of Mechanic & Electr. Eng., Harbin Eng. Univ., Harbin
Abstract :
In this paper, a novel analytic projection method is proposed to calculate the prototype parameters of the reconfigurable mobile robot. The equivalent latitudinal and longitudinal stability margins of the mobile robot are investigated with non-linear characteristics. The Harmony Search (HS) method is also applied to obtain the optimal configurations.
Keywords :
mobile robots; stability; analytic projection method; harmony search; optimal configurations; projection method; reconfigurable mobile robot; stability margins; Automobiles; Computational geometry; Design engineering; Mars; Mobile robots; Optimization methods; Prototypes; Railway engineering; Stability; Wheels; Harmony Search (HS); Reconfigurable mobile robot; optimization; projection method; prototype;
Conference_Titel :
Robotics and Biomimetics, 2008. ROBIO 2008. IEEE International Conference on
Conference_Location :
Bangkok
Print_ISBN :
978-1-4244-2678-2
Electronic_ISBN :
978-1-4244-2679-9
DOI :
10.1109/ROBIO.2009.4913249
