A navigation simulation system of lunar rover

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 机器人学研究室

	A navigation simulation system of lunar rover
	Liu J(刘霁); Wang YC(王越超); Zhou C(周船); Geng YF(耿沿锋); Cong Y(丛杨)
	2008
会议名称	IEEE International Conference on Networking, Sensing and Control
会议日期	April 6-8, 2008
会议地点	Sanya, China
关键词	kinematics model lunar rover rover-terrain interaction navigation simulation
页码	556-561
通讯作者	刘霁
中文摘要	This paper presents a navigation simulation system on lunar rover. With virtual reality technology, this system serves to verify the kinematics model and the validity of the planning-path for navigating lunar rover. Because the lunar terrain can not be treated as the 2D surface, the kinematics modeling of lunar rover unlike ordinary mobile robots needs to contain the information about terrain. This model assumes that the point of wheel-terrain point changes continuously. However, the terrain geometry and discretization in simulation do not meet this assumption so that error will destroy the simulation effect. An optimization strategy is proposed to eliminate this error and keeps tight contact between the wheels and the terrain. Finally, experiments validate the optimization method and the whole simulation system.
收录类别	EI ; CPCI（ISTP）
产权排序	1
会议主办者	IEEE Syst, Man & Cybernet Soc
会议录	PROCEEDINGS OF 2008 IEEE INTERNATIONAL CONFERENCE ON NETWORKING, SENSING AND CONTROL, VOLS 1 AND 2
会议录出版者	IEEE
会议录出版地	NEW YORK
语种	英语
ISSN号	1810-7869
ISBN号	978-1-4244-1685-1
WOS记录号	WOS:000255017800109
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/8493]
专题	沈阳自动化研究所_机器人学研究室
推荐引用方式 GB/T 7714	Liu J,Wang YC,Zhou C,et al. A navigation simulation system of lunar rover[C]. 见:IEEE International Conference on Networking, Sensing and Control. Sanya, China. April 6-8, 2008.