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论文类型：期刊论文

发表时间：2012-01-01

发表刊物：Advanced Science Letters

收录刊物：Scopus

卷号：5

期号：2

页面范围：827-830

ISSN号：19366612

摘要：In the paper, an obstacle avoidance path-planning algorithm in 3-D lunar simulated terrain is developed based on the configuration and traversability of lunar rover. Firstly, weighted least squares method is studied to establish terrain evaluation grid model of lunar surface. Slope, roughness and certain value of each map grid are computed to analyze the traversability of rover on the grid. Secondly, a polar coordinates histogram is built around the rover to measure the traversability of each direction, and the optimal driving direction is obtained by establishing a cost function with the target direction, rover attitude, wheel pose and terrain traversability be considered. Finally, an ADAMS based simulation environment is established, which can describe the kinematic and dynamic characteristics of lunar rover, and the validity of proposed algorithm is confirmed. ? 2012 American Scientific Publishers All rights reserved.