Optimization of mobile robot based on projection method and Harmony Search

Authors:
He Xu; Zhenyu Zhang; Dawei Tan; Xiaozhi Gao; Gaoliang Peng; Shuanghe Yu
Affiliations:
College of Mechanic&Electric Engineering, Harbin Engineering University, 150001 China;College of Mechanic&Electric Engineering, Harbin Engineering University, 150001 China;College of Mechanic&Electric Engineering, Harbin Engineering University, 150001 China;School of Mechanic&Electric Engineering, Harbin Institute of Technology, 150001 China;School of Mechanic&Electric Engineering, Harbin Institute of Technology, 150001 China;School of Mechanic&Electric Engineering, Harbin Institute of Technology, 150001 China
Venue:
ROBIO '09 Proceedings of the 2008 IEEE International Conference on Robotics and Biomimetics
Year:
2009

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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.