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- W4296869946 abstract "The obstacle surmounting action of the tracked robot is often given by the operator according to their own experience, meanwhile, the obstacle surmounting process has high power consumption and high motor performance requirements at times. In order to solve this problem, this paper firstly analyzes the mechanism of step obstacle surmounting and designs the autonomous obstacle surmounting actions. By analyzing and calculating the force, the dynamic model of obstacle surmounting is established. Afterward, based on NSGA-II algorithm, a multi-objective optimization is designed to get the pareto front of step obstacles in different heights from the perspectives of energy consumption and motor performance requirements. Finally, TOPSIS method is used to evaluate the optimal solution set so as to obtain the optimal obstacle surmounting parameters." @default.
- W4296869946 created "2022-09-24" @default.
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- W4296869946 date "2022-01-01" @default.
- W4296869946 modified "2023-09-26" @default.
- W4296869946 title "Multi-objective Optimization of Autonomous Obstacle Surmounting Action for Tracked Robot Based on NSGA-II Algorithm" @default.
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- W4296869946 doi "https://doi.org/10.1007/978-981-19-6226-4_82" @default.
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