A Systems Engineering Approach to Electro-Mechanical Reconfiguration for High Mobility Autonomy

摘要

Abstract : The performance of a system is a function of the performance of each of its individual components. This work explores the relationship between system performance and subcomponent performance in the electro-mechanical configuration of a mobile robot under the premise that the performance of the mobile robot can be greatly improved through the systematic analysis and design of an efficient electro-mechanical configuration. This work further presumes that the concept of mobility adequately encompasses the metrics by which complete mobile robotic systems may be measured; the purpose of building a mobile robot is assumed to be the creation of a maximally mobile autonomous machine. The performance cost of converting an existing machine into an autonomous machine is then measured by its mobility degradation.