Optimization Design of a Wheeled Extraction Robot by the Modified Simulated Annealing Algorithm

A wheeled extraction robot is proposed in this paper, which can conduct tasks including casualty detection, environment perception, casualty & material transportation in complex environments. The robot consists of five modules: the mobile chassis module, the pan-tilt module, the casualty transportation module, the material transportation module, and the environmental perception module. To increase the robot's motion performance, the force analysis model of the robot while climbing is established, the objective function of maximizing the climbing angle is built. And a modified simulated annealing method is designed for optimization. The robot prototype is manufactured, and the physical experiments are conducted. Experimental results indicate that the maximum climbing angle of the robot reaches 60 % by optimizing the structure layout parameters of the robot.