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A Polar Rover for Large-scale Scientific Surveys: Design, Implementation and Field Test Results
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
发表期刊INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS
ISSN1729-8806
2015
卷号12期号:10页码:1-16
收录类别SCI ; EI
EI收录号20170303261553
WOS记录号WOS:000364210900001
产权排序1
资助机构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标题词Science & Technology ; Technology
WOS类目Robotics
关键词[WOS]TERRAIN ; ENVIRONMENTS ; NAVIGATION ; VISION
WOS研究方向Robotics
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文献类型期刊论文
条目标识符http://ir.sia.cn/handle/173321/17283
专题机器人学研究室
通讯作者He YQ(何玉庆)
作者单位State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
推荐引用方式
GB/T 7714
He YQ,Chen C,Bu CG,et al. A Polar Rover for Large-scale Scientific Surveys: Design, Implementation and Field Test Results[J]. INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,2015,12(10):1-16.
APA He YQ,Chen C,Bu CG,&Han JD.(2015).A Polar Rover for Large-scale Scientific Surveys: Design, Implementation and Field Test Results.INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,12(10),1-16.
MLA He YQ,et al."A Polar Rover for Large-scale Scientific Surveys: Design, Implementation and Field Test Results".INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS 12.10(2015):1-16.
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