A navigation simulation system of lunar rover
文献类型：会议论文
| 作者 | Liu J(刘霁) ; Wang YC(王越超); Zhou C(周船); Geng YF(耿沿锋); Cong Y(丛杨)
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| 出版日期 | 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
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| 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 |
| 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. |
入库方式： OAI收割
来源：沈阳自动化研究所
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