Chassis Design and Analysis of an Autonomous Ground Vehicle (AGV) using Genetic Algorithm

摘要

This paper analyzes the design of a prototype chassis for an autonomous ground vehicle (AGV). This prototype is a four-wheel powered vehicle which would be used for identifying and removal of potatoes affected by virus Y (PVY) in the field. Potato fields are fraught with rough terrain and deep irrigation ruts. Navigation of such a terrain is very challenging and demanding on the robot chassis. An optimization routine was used for finding the ideal size and material for the chassis. Seven different stress analysis were conducted to help narrow down the chassis design and material for the prototype. In addition to a general overview of the various vehicle sub-systems, a detailed description of the force and stress analysis for the chassis of this vehicle is provided. All stress analysis for this chassis passed the design requirements in CAD model (SolidWorks) and has been built and tested in the field.