A differential evolution-based approach to design all-terrain ground vehicle wheels

Alaa Khamis; Mohammed Ashraf

doi:10.1109/ICARSC.2017.7964093

A differential evolution-based approach to design all-terrain ground vehicle wheels

Alaa Khamis, Mohammed Ashraf

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

A major challenging aspect of unmanned ground vehicles used for landmine detection is the rough terrain of the contaminated areas. The wheel is the prime responsible for supporting the robot's overall weight, as well as negotiating the rough terrain and its interactions. Wheel design problem includes several decision variables and conflicting objective functions. This paper presents a multi-criteria optimization approach to unmanned ground vehicle's wheel design. Differential evolution-based approach is used to design the wheel and generate trade-off curves for the different conflicting objective functions. The designed wheels are implemented in 6-wheel unmanned ground vehicles within MineProbe project. This applied research project aims at developing a novel minefield reconnaissance and mapping system that detects and localizes explosive remnants of war.

Original language	English
Title of host publication	2017 IEEE International Conference on Autonomous Robot Systems and Competitions, ICARSC 2017
Editors	Lino Marques, Alexandre Bernardino
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	310-315
Number of pages	6
ISBN (Electronic)	9781509062331
DOIs	https://doi.org/10.1109/ICARSC.2017.7964093
State	Published - 29 Jun 2017
Externally published	Yes
Event	2017 IEEE International Conference on Autonomous Robot Systems and Competitions, ICARSC 2017 - Coimbra, Portugal Duration: 26 Apr 2017 → 28 Apr 2017

Publication series

Name	2017 IEEE International Conference on Autonomous Robot Systems and Competitions, ICARSC 2017

Conference

Conference	2017 IEEE International Conference on Autonomous Robot Systems and Competitions, ICARSC 2017
Country/Territory	Portugal
City	Coimbra
Period	26/04/17 → 28/04/17

Bibliographical note

Publisher Copyright:
© 2017 IEEE.

Keywords

Differential evolution
Humanitarian demining
Multi-criteria Optimization
Rough terrain
Wheel Design

ASJC Scopus subject areas

Biomedical Engineering
Control and Optimization
Mechanical Engineering
Artificial Intelligence

Access to Document

10.1109/ICARSC.2017.7964093

Cite this

Khamis, A., & Ashraf, M. (2017). A differential evolution-based approach to design all-terrain ground vehicle wheels. In L. Marques, & A. Bernardino (Eds.), 2017 IEEE International Conference on Autonomous Robot Systems and Competitions, ICARSC 2017 (pp. 310-315). Article 7964093 (2017 IEEE International Conference on Autonomous Robot Systems and Competitions, ICARSC 2017). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICARSC.2017.7964093

Khamis, Alaa ; Ashraf, Mohammed. / A differential evolution-based approach to design all-terrain ground vehicle wheels. 2017 IEEE International Conference on Autonomous Robot Systems and Competitions, ICARSC 2017. editor / Lino Marques ; Alexandre Bernardino. Institute of Electrical and Electronics Engineers Inc., 2017. pp. 310-315 (2017 IEEE International Conference on Autonomous Robot Systems and Competitions, ICARSC 2017).

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title = "A differential evolution-based approach to design all-terrain ground vehicle wheels",

abstract = "A major challenging aspect of unmanned ground vehicles used for landmine detection is the rough terrain of the contaminated areas. The wheel is the prime responsible for supporting the robot's overall weight, as well as negotiating the rough terrain and its interactions. Wheel design problem includes several decision variables and conflicting objective functions. This paper presents a multi-criteria optimization approach to unmanned ground vehicle's wheel design. Differential evolution-based approach is used to design the wheel and generate trade-off curves for the different conflicting objective functions. The designed wheels are implemented in 6-wheel unmanned ground vehicles within MineProbe project. This applied research project aims at developing a novel minefield reconnaissance and mapping system that detects and localizes explosive remnants of war.",

keywords = "Differential evolution, Humanitarian demining, Multi-criteria Optimization, Rough terrain, Wheel Design",

author = "Alaa Khamis and Mohammed Ashraf",

note = "Publisher Copyright: {\textcopyright} 2017 IEEE.; 2017 IEEE International Conference on Autonomous Robot Systems and Competitions, ICARSC 2017 ; Conference date: 26-04-2017 Through 28-04-2017",

year = "2017",

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series = "2017 IEEE International Conference on Autonomous Robot Systems and Competitions, ICARSC 2017",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

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Khamis, A & Ashraf, M 2017, A differential evolution-based approach to design all-terrain ground vehicle wheels. in L Marques & A Bernardino (eds), 2017 IEEE International Conference on Autonomous Robot Systems and Competitions, ICARSC 2017., 7964093, 2017 IEEE International Conference on Autonomous Robot Systems and Competitions, ICARSC 2017, Institute of Electrical and Electronics Engineers Inc., pp. 310-315, 2017 IEEE International Conference on Autonomous Robot Systems and Competitions, ICARSC 2017, Coimbra, Portugal, 26/04/17. https://doi.org/10.1109/ICARSC.2017.7964093

A differential evolution-based approach to design all-terrain ground vehicle wheels. / Khamis, Alaa; Ashraf, Mohammed.
2017 IEEE International Conference on Autonomous Robot Systems and Competitions, ICARSC 2017. ed. / Lino Marques; Alexandre Bernardino. Institute of Electrical and Electronics Engineers Inc., 2017. p. 310-315 7964093 (2017 IEEE International Conference on Autonomous Robot Systems and Competitions, ICARSC 2017).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AB - A major challenging aspect of unmanned ground vehicles used for landmine detection is the rough terrain of the contaminated areas. The wheel is the prime responsible for supporting the robot's overall weight, as well as negotiating the rough terrain and its interactions. Wheel design problem includes several decision variables and conflicting objective functions. This paper presents a multi-criteria optimization approach to unmanned ground vehicle's wheel design. Differential evolution-based approach is used to design the wheel and generate trade-off curves for the different conflicting objective functions. The designed wheels are implemented in 6-wheel unmanned ground vehicles within MineProbe project. This applied research project aims at developing a novel minefield reconnaissance and mapping system that detects and localizes explosive remnants of war.

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Khamis A, Ashraf M. A differential evolution-based approach to design all-terrain ground vehicle wheels. In Marques L, Bernardino A, editors, 2017 IEEE International Conference on Autonomous Robot Systems and Competitions, ICARSC 2017. Institute of Electrical and Electronics Engineers Inc. 2017. p. 310-315. 7964093. (2017 IEEE International Conference on Autonomous Robot Systems and Competitions, ICARSC 2017). doi: 10.1109/ICARSC.2017.7964093

A differential evolution-based approach to design all-terrain ground vehicle wheels

Abstract

Publication series

Conference

Bibliographical note

Keywords

ASJC Scopus subject areas

Access to Document

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Cite this