Optimization of Rocker–Bogie Suspension System for Robustness Improvement of Autonomous Rover by Numerical Simulations for Irregular Surfaces in Precision Agriculture

摘要

Mobile robots are capable of moving in various environments and performing complex tasks. They are essential in applications such as planetary exploration, search missions, hazardous waste cleanup, and process automation. Therefore, their study and improvement are relevant today. In this research, we propose optimizing the rocker–bogie suspension system to enhance the robustness of an autonomous rover used in precision agriculture (PA). PA aims to maximize agricultural efficiency and productivity through advanced technologies, and autonomous rovers play a crucial role in enabling real-time data collection and decision-making. This work was developed by implementing numerical simulations to evaluate the performance of the suspension system. The rocker–bogie suspension system is widely used in space exploration as it can avoid obstacles and maintain stability in challenging terrain. Using degrees of freedom and structural analysis, we designed and validated a rocker–bogie-type suspension geometry adapted to the needs of PA. The results of the simulations showed that optimizing the rocker–bogie suspension system significantly improves the rover’s robustness on uneven surfaces. The performance of the system was evaluated in various scenarios and conditions through numerical simulations, which supported its feasibility and effectiveness in PA. In conclusion, optimizing the rocker–bogie suspension system is an effective strategy to enhance the robustness of an autonomous rover in PA, as demonstrated by the results of the static simulations. This finding has significant implications for maximizing efficiency and agricultural productivity in PA.