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
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;
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
DOI :
10.1109/ICMTMA.2010.66
