Traversability based obstacle avoidance path-planning and path-following control for lunar rover
文献类型：期刊论文
| 作者 | Li, LH (Li, Linhui); Lian, J (Lian, Jing); Huang, HY (Huang, Haiyang); Wang, HX (Wang, Hongxu); Zong, YP (Zong, Yunpeng); Zhang, RH (Zhang, Ronghui) |
| 刊名 | JOURNAL OF INTELLIGENT & FUZZY SYSTEMS
 |
| 出版日期 | 2015 |
| 卷号 | 28期号:2页码:547-559 |
| 关键词 | Lunar rover path-planning fuzzy computing path-following control |
| ISSN号 | 1875-8967 |
| 英文摘要 | In this paper, an obstacle avoidance path-planning algorithm and a path-following controller are developed for a lunar rover in simulated 3-D lunar terrains. Firstly, traversability analysis of the lunar surface is studied based on the weighted least squares method and fuzzy computing. Secondly, a polar coordinates histogram is built around the rover to measure the traversability to enable selection of the optimal driving direction. Thirdly, a longitudinal traction coordinating controller based on sliding mode theory and a latitudinal trajectory tracking controller based on optimal theory are proposed to follow the desired path. Finally, a six-wheel lunar rover with Rocker Bogie model is established in ADAMS software, and co-simulation between ADAMS and MATLAB/Simulink are carried out to verify the effectiveness of the proposed algorithm. |
| 收录类别 | SCI |
| WOS记录号 | WOS:000348366900006 |
| 公开日期 | 2015-03-11 |
| 源URL | [http://ir.xjipc.cas.cn/handle/365002/4212]  |
| 专题 | 新疆理化技术研究所_多语种信息技术研究室 |
| 作者单位 | Dalian Univ Technol, Sch Automot Engn, Fac Vehicle Engn & Mech, State Key Lab Struct Anal Ind Equipment, Dalian 116024, Peoples R China;Chinese Acad Sci, Xinjiang Tech Inst Phys & Chem, Xinjiang, Peoples R China |
| 推荐引用方式 GB/T 7714 | Li, LH ,Lian, J ,Huang, HY ,et al. Traversability based obstacle avoidance path-planning and path-following control for lunar rover[J]. JOURNAL OF INTELLIGENT & FUZZY SYSTEMS,2015,28(2):547-559. |
| APA | Li, LH ,Lian, J ,Huang, HY ,Wang, HX ,Zong, YP ,&Zhang, RH .(2015).Traversability based obstacle avoidance path-planning and path-following control for lunar rover.JOURNAL OF INTELLIGENT & FUZZY SYSTEMS,28(2),547-559. |
| MLA | Li, LH ,et al."Traversability based obstacle avoidance path-planning and path-following control for lunar rover".JOURNAL OF INTELLIGENT & FUZZY SYSTEMS 28.2(2015):547-559. |
入库方式： OAI收割
来源：新疆理化技术研究所
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