부산대학교 도서관

This paper proposes a design of morphological changing all-terrain-rover as new concept of hybrid-type mobile robot for enhancing mobility. Mobility evaluation is performed by mechanical theories, and its calculating methods are used for simulations. A feasibility of suggested design of all-terrain-rover is investigated by simulation. After verifying feasibility, this paper applies a PD control with the genetic algorithm as optimizing gains for enhancing mobility. The mobility is able to verify by fitness value from simulation results, and it shows that proposed rover can overcome a mobility limitation of former designed rovers.