Researching | Research on off-road path optimization algorithm based on Bekker theory improved genetic algorithm

Optics and Precision Engineering, Volume. 31, Issue 5, 767(2023)

Research on off-road path optimization algorithm based on Bekker theory improved genetic algorithm

Ningdong CHANG¹, Chun FENG^1,2、*, Pengda CHENG¹, Xinguang ZHU¹, and Yuqiong LI^1,2、*

Author Affiliations

¹Institute of Mechanics， Chinese Academy of Sciences， Beijing0090， China

²School of Engineering Science， University of Chinese Academy of Sciences， Beijing100049， China

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Figures & Tables(7)

Fig. 1. Calculation diagram of tire in contact with soil

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Fig. 2. Flow chart of genetic algorithms

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Fig. 3. Double dot cross

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Fig. 4. Path optimization diagram with obstacle

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Fig. 5. Path optimization with obstacles and soft soil

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Table 1. Soil material properties
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Table 1. Soil material properties
土壤类型弹性模量E/MPa 泊松比υ 粘聚力c/Pa 内摩擦角 $φ$ /（°）
黏土 8.0 0.42 2 070 20

Table 2. Soft soil material properties
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Table 2. Soft soil material properties
土壤类型弹性模量E/MPa 泊松比υ 粘聚力c/Pa 内摩擦角 $φ$ /（°）
砂土 0.2 0.35 1 520 9

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Ningdong CHANG, Chun FENG, Pengda CHENG, Xinguang ZHU, Yuqiong LI. Research on off-road path optimization algorithm based on Bekker theory improved genetic algorithm[J]. Optics and Precision Engineering, 2023, 31(5): 767

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Paper Information

Category: Path planning

Received: Sep. 28, 2022

Accepted: --

Published Online: Apr. 4, 2023

The Author Email: Chun FENG (fengchun@imech.ac.cn), Yuqiong LI (liyuqiong@imech.ac.cn)

DOI:10.37188/OPE.20233105.0767

Topics

laser devices and laser physics

Lasers and Laser Optics

laser manufacturing

Instrumentation, Measurement and Metrology