Global path planning for five-wheel articulated lunar robot

被引：0
|
作者：
Liu, Fang-Hu [1 ]
Ma, Pei-Sun [1 ]
Chen, Jian-Ping [1 ]
Zhu, Jie [1 ]
Yao, Qin [1 ]
机构：
[1] Sch. of Mech. Eng., Shanghai Jiaotong Univ., Shanghai 200030, China
来源：
Shanghai Jiaotong Daxue Xuebao/Journal of Shanghai Jiaotong University | 2001年 / 35卷 / 12期
关键词：
Computer simulation - Lunar missions - Moon - Motion planning - Three dimensional;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
In order to meet the requirements for the obstacle avoidance and operation on the moon of a five-wheel articulated lunar robot (FWALR), based on the structure characteristics of FWALR, the 3-dimensional (3-D) uneven terrain on the moon and the wheel-terrain interaction, it presented a double direction global path planning method based on virtual sensors and a dimension-reduced method. With the method, it completed the global path planning for the FWALR and its corresponding simulation. As a result, a feasible path is found, which validates the feasibility of the global path planning method.
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页码：1785 / 1788
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