Optimal Design of Agricultural Mobile Robot Suspension System Based on NSGA-III and TOPSIS

Abstract

The stability of vehicles is influenced by the suspension system. At present, there are many studies on the suspension of traditional passenger vehicles, but few are related to agricultural mobile robots. There are structural differences between the suspension system of agricultural mobile robots and passenger vehicles, which requires structural simplification and modelling concerning suspension of agricultural mobile robots. This study investigates the optimal design for an agricultural mobile robot’s suspension system designed based on a double wishbone suspension structure. The dynamics of the quarter suspension system were modelled based on Lagrange’s equation. In our work, the non-dominated sorting genetic algorithm III (NSGA-III) was selected for conducting multi-objective optimization of the suspension design, combined with the Technique for Order Preference by Similarity to the Ideal Solution (TOPSIS) to choose the optimal combination of parameters in the non-dominated solution set obtained by NSGA-III. We compared the performance of NSGA-III with that of other multi-objective evolutionary algorithms (MOEAs). Compared with the second-scoring solution, the score of the optimal solution obtained by NSGA-III increased by 4.92%, indicating that NSGA-III has a significant advantage in terms of the solution quality and robustness for the optimal design of the suspension system. This was verified by simulation in Adams that our method, which utilizes multibody dynamics, NSGA-III and TOPSIS, is feasible to determine the optimal design of a suspension system for an agricultural mobile robot.

Trajectory Synthesis and Optimization Design of an Unmanned Five-Bar Vegetable Factory Packing Machine Based on NSGA-II and Grey Relation Analysis

“…Li solved the multi-objective scale synthesis problem of hybrid robots using the NSGA-II algorithm [23]. Qu used NSGA-III to optimize the design of a double arm suspension of an agricultural robot and scored the Pareto solution set using the topsis method to obtain the optimal solution [24].…”

Structural Optimization Design of Dual Robot Gripper Unloading Device Based on Intelligent Optimization Algorithms and Generative Design

“…Addressing this issue, Jain et al [14] proposed a non-dominated sorting optimization algorithm utilizing reference points, namely NSGA-III, which effectively resolved high-latitude multi-objective optimization problems. In subsequent studies, Qu et al [15] employed the NSGA-III algorithm to obtain optimal design solutions for a robot suspension system. Li, B. et al [16], in their endeavor to enhance optimizer efficiency, confirmed the superiority of NSGA-III in tackling multi-objective optimization problems.…”

Engineering Innovations in Agriculture

“…In [9], the authors first presented the "cut-and-paste" method for synthetically augmenting the available dataset by generating additional annotated training images. In [10], the authors investigated the optimal design for an agricultural mobile robot's suspension system based on a double wishbone suspension structure. In the work presented in [11], the authors investigated the use of pyrolysis to recycle amaranth inflorescence wastes.…”