Abstract
The terrain of the mobile robot provides the only and powerful thrust. Therefore, the optimal prototype design with respect to the terrain is important for the robot in the sandlot or soft soiled environments. In this chapter, a Harmony Search Multi-Objective Optimization (HSMOO) with constraints is proposed to the design of a reconfigurable mobile robot with respect to the terramechanics, and the optimal configuration prototype is then obtained. The actual condition shows that in the process of mobile robot design and manufacture, the HSMOO is effective to the issue of the mobile robot reconfiguration.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Apostolopoulos, D.: Systematic configuration of robotic locomotion. Technical Report CMU-RI-TR-96-30, The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA (1996)
Jet Propulsion Laboratory. Mars Pathfinder. News Online (1998), http://mars.jpl.nasa.gov/MPF/index1.html (accessed 8 April 1998)
Jet Propulsion Laboratory. Mars Exploration Program. News Online (2000), http://mpfwww.jpl.nasa.gov/ (accessed November 2000)
Sreenivasan, S.V., Wilcox, B.H.: Stability and traction control of an actively actuated micro- rover. Journal of Robotic Systems 11, 487–502 (1994)
Kubota, T., Kuroda, Y., Kunii, Y.: Micro planetary rover Micro5. In: 5th International Symposium on Artificial Intelligence, Robotics and Automation in Space (ISAIRAS 1999), Noordwijk, Netherlands, June 1-3 (1999)
Shigeo, H.: Super-mechano-colony and SMC rover with detachable wheel units. In: COE Workshop 1999, Tokyo, Japan, August 20-24 (1999)
Apostolopoulos, D.: Analytical configuration of wheeled robotic locomotion. Technical Report CMU-RI-TR-01-08, The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA (2001)
Zhuang, J.D.: Biomimetics wheel simulating a camera feet. In: Zhuang, J.D. (ed.) dvanced Technology of Tire. Beijing Machine Industry Press, Beijing (2001)
Chen, Z.: Research of a compound walking wheel having retractile laminas with application to lunar rover. Master thesis, Jilin University (2007)
Fu, Y., Xu, H., Ma, Y.: A navigation robot with reconfigurable chassis and bionic wheel. In: IEEE International Conference on Robotics and Biomimetics (ROBIO 2004), Shenyang, China, August 22-25 (2004)
Xu, H., Tan, D.W., Zhang, Z.Y.: Optimization of mobile robot based on projection method and harmony search. In: IEEE International Conference on Robotics and Biomimetics (ROBIO 2004), Bangkok, Thailand, February 21-26 (2008)
Geem, Z.W., Kim, J.H., Loganathan, G.V.: A new heuristic optimization algorithm: harmony search. Simulation 76, 60–68 (2001)
Mahdavi, M., Fesanghary, M., Damangir, E.: An improved harmony search algorithm for solving optimization problems. Applied Mathematics and Computation 188, 1567–1579 (2007)
Gao, X.Z., Wang, X., Ovaska, S.J.: Harmony search methods for multi-modal and constrained optimization. In: Geem, Z.W. (ed.) Music-Inspired Harmony Search Algorithms. Springer, Berlin (2009)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2010 Springer-Verlag Berlin Heidelberg
About this chapter
Cite this chapter
Xu, H., Gao, X.Z., Wang, T., Xue, K. (2010). Harmony Search Optimization Algorithm: Application to a Reconfigurable Mobile Robot Prototype. In: Geem, Z.W. (eds) Recent Advances In Harmony Search Algorithm. Studies in Computational Intelligence, vol 270. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-04317-8_2
Download citation
DOI: https://doi.org/10.1007/978-3-642-04317-8_2
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-04316-1
Online ISBN: 978-3-642-04317-8
eBook Packages: EngineeringEngineering (R0)