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题名: A Polar Rover for Large-scale Scientific Surveys: Design, Implementation and Field Test Results
作者: He YQ(何玉庆); Chen C(陈成); Bu CG(卜春光); Han JD(韩建达)
作者部门: 机器人学研究室
关键词: Polar Rover ; Autonomous Navigation ; Obstacle Avoidance
刊名: INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS
ISSN号: 1729-8806
出版日期: 2015
卷号: 12, 页码:1-16
收录类别: SCI
产权排序: 1
项目资助者: State Key Program of National Natural Science of China [61035005] ; Chinese Arctic and Antarctic Administration ; Polar Research Institute of China
摘要: Exploration of polar regions is of great importance to scientific research. Unfortunately, due to the harsh environment, most of the regions on the Antarctic continent are still unreachable for humankind. Therefore, in 2011, the Chinese National Antarctic Research Expedition (CHINARE) launched a project to design a rover to conduct large-scale scientific surveys on the Antarctic. The main challenges for the rover are twofold: one is the mobility, i.e., how to make a rover that could survive the harsh environment and safely move on the uneven, icy and snowy terrain; the other is the autonomy, in that the robot should be able to move at a relatively high speed with little or no human intervention so that it can explore a large region in a limit time interval under the communication constraints. In this paper, the corresponding techniques, especially the polar rover's design and autonomous navigation algorithms, are introduced in detail. Subsequently, an experimental report of the fields tests on the Antarctic is given to show some preliminary evaluation of the rover. Finally, experiences and existing challenging problems are summarized.
语种: 英语
WOS记录号: WOS:000364210900001
WOS标题词: Science & Technology ; Technology
类目[WOS]: Robotics
关键词[WOS]: TERRAIN ; ENVIRONMENTS ; NAVIGATION ; VISION
研究领域[WOS]: Robotics
Citation statistics:
内容类型: 期刊论文
URI标识: http://ir.sia.cn/handle/173321/17283
Appears in Collections:机器人学研究室_期刊论文

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