A GENETIC ALGORITHM FOR TORQUE OPTIMIZATION OF AUTONOMOUS VEHICLES IN HIGH INCLINED TERRAINS
Diego Gabriel Gomes Rosa1; Marco Antonio Meggiolaro1; Marco Aurélio Cavalcanti Pacheco1
1 Pontifícia Universidade Católica do Rio de Janeiro
Baixar PDF doi:10.20906/CPS/CBA2018-0434
Resumo
In this paper, a strategy based on genetic algorithms for mechanical torque optimization is implemented. The work is based on an electric 4WD (four-wheel drive) vehicle. This configuration is interesting as it can be generalized for mo-bile robots, off-road vehicles or even electrical wheelchairs. A multi-objective criterion is used. In usual applications, high velocities are desired to the trajectory accomplishment and, simultaneously, a stable movement have to be exe-cuted, even in terrains with high inclinations. Hence, to guarantee the stability in high inclined plans is the main chal-lenge in this work. The fitness function here used consists in evaluate torques for a simplified dynamic model, while electrical, geometrical and mechanical vehicle characteristics are restricted. The results show interesting information about the systems behaviour, as the maximum inclinations that the vehicle can rise and the possible torques that can be executed to accomplish a trajectory in a maximum velocity. Simulations of a theoretical model and experimental tests developed in a mobile robot assure the results.
Palavras-chave: Genetic algorithms; Torque optimization; Stability analysis; Mobile robots