DocumentCode
2297534
Title
Research on the Method of Torque Distribution of Six-Wheel Rocker-Bogie Lunar Rover
Author
Zhou Hui ; Ju He-Hua
Author_Institution
Coll. of Electron. Inf. & Control Eng., Beijing Univ. of Technol., Beijing, China
Volume
3
fYear
2010
fDate
13-14 March 2010
Firstpage
203
Lastpage
206
Abstract
Torque distribution based on the method of solving static model is not efficient in rough terrain. This paper describes an optimization method and neural network method based on the rover´s static model. Through building the 3D virtual environment, simulation experiment supports the fact that both of them is better than solving static model method, and neural network method more timesaving than optimization method.
Keywords
aerospace robotics; neural nets; optimisation; planetary rovers; torque control; virtual reality; 3D virtual environment; neural network method; optimization method; rough terrain; six-wheel rocker bogie lunar rover; static model; torque distribution; Control engineering; Educational institutions; Equations; Moon; Neural networks; Optimization methods; Sliding mode control; Torque control; Virtual environment; Wheels; dynamic control; optimization; torque distribution; traction control;
fLanguage
English
Publisher
ieee
Conference_Titel
Measuring Technology and Mechatronics Automation (ICMTMA), 2010 International Conference on
Conference_Location
Changsha City
Print_ISBN
978-1-4244-5001-5
Electronic_ISBN
978-1-4244-5739-7
Type
conf
DOI
10.1109/ICMTMA.2010.66
Filename
5459703
Link To Document