Design, Dynamic Analysis and Optimization of a Rover for Rescue Operations

  • Hadi Tavakoli Nia
  • Seyed Hamidreza Alemohammad
  • Saeed Bagheri
  • Reza Hajiaghaee Khiabani
  • Ali Meghdari
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 4020)


In this paper a new approach to dynamic optimization of a rough terrain rover is introduced. Since rover wheels traction has a significant role in rover mobility, optimization is based on the minimization of traction at rover wheel-ground interfaces. The method of optimization chosen is Genetic Algorithm (GA) which is a directed random search technique along with the usual optimization based on directional derivatives. GA is a suitable and efficient method of optimization for nonlinear problems. The procedure is applied on a specific rough terrain rover called CEDRA-I Shrimp Rover. The present work resulted in design and manufacturing of the optimized rover called CEDRA-II Shrimp Rover.


Mobile Robot Constraint Force Rescue Operation Slip Ratio Rough Terrain 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag Berlin Heidelberg 2006

Authors and Affiliations

  • Hadi Tavakoli Nia
    • 1
  • Seyed Hamidreza Alemohammad
    • 1
  • Saeed Bagheri
    • 1
  • Reza Hajiaghaee Khiabani
    • 1
  • Ali Meghdari
    • 1
  1. 1.Center of Excellence in Design, Robotics and Automation, Department of Mechanical EngineeringSharif University of TechnologyTehranIran

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