Mechanism-parameters optimization of a reconfigurable tracked mobile modular deep-sea Rover ROV

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 水下机器人研究室

	Mechanism-parameters optimization of a reconfigurable tracked mobile modular deep-sea Rover ROV
	Zhang QF(张奇峰)2 ; Zhang YX(张运修)1,2 ; Xu DC(徐东岑)1,2; He XH(何旭欢)1,2; Zhang AQ(张艾群)2 ; Wang C(王聪)1,2
	2018
会议日期	May 28-31, 2018
会议地点	Kobe, Japan
关键词	Reconfigurable Tracked Mobile Modular deep-sea rover ROV Crawling obstacles Mechanism-parameters design Multi-objective Genetic Algorithm
页码	1-7
英文摘要	It is extremely difficult and expensive to operate a traditional remotely operated vehicle (ROV) in the deep sea. In this paper, a small and reconfigurable tracked mobile modular deep-sea rover ROV (R-ROV) is designed to conduct regional fine-sounding operations. The R-ROV can be placed inside a deep-sea lander, which can be operated in 3000m depth seafloor. When the lander lands seafloor, R-ROV can walk out in crawling or cruising mode operated in a fan-shaped area with long working time. In order to obtain mechanism-parameters and improve R-ROV’s adaptability and motility, multi-objective genetic algorithm is used in this paper. So the relationship between the objective functions and mechanism-parameters of the transformable vehicle is established. There are two typical objective obstacles for the crawl mode R-ROV, stair and gully. However, different from the robot walking on land, it is difficult to find the optimal configuration across the stairs underwater because of the buoyancy of water. This paper proposes a method to obtain optimized mechanism-parameters for the R-ROV considering the underwater environment, which has been calculated through simulation. The results are reported in detail. © 2018 IEEE.
产权排序	1
会议录	OCEANS 2018 MTS/IEEE Kobe
会议录出版者	IEEE
会议录出版地	New York
语种	英语
ISBN号	978-1-5386-1654-3
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/24127]
专题	沈阳自动化研究所_水下机器人研究室
通讯作者	Zhang QF(张奇峰); Zhang YX(张运修)
作者单位	1.University of Chinese Academy of Sciences, Beijing 100049, China 2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences (CAS), Shenyang 110016, China
推荐引用方式 GB/T 7714	Zhang QF,Zhang YX,Xu DC,et al. Mechanism-parameters optimization of a reconfigurable tracked mobile modular deep-sea Rover ROV[C]. 见:. Kobe, Japan. May 28-31, 2018.