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Alternative TitleMethod of Eliminating Wheel-terrain Interaction Errors in Lunar Rover Simulation
刘霁; 王越超; 周船; 和永智
Source Publication系统仿真学报
Indexed ByEI ; CSCD
EI Accession number20083411471776
Contribution Rank1
Funding Organization中科院机器人学研究室基金课题宜人化地面遥操作系统(A040118)
Keyword月球机器人 轮地交互 运动学模型 运动学优化 虚拟现实
Other AbstractIn order to secure the safety and efficiency of the lunar rover, it is an effective method to simulate the working process and the environments on lunar surface with virtual reality technology. However, there are errors in the interaction between the rover and the virtual lunar surface based on 3D-reconstruction, when using a general simulation method only based on kinematics (or dynamics) models. In particularly, the errors will be accumulated with the advance of time. As a result, the simulation precise and visual effect will be deteriorated. In order to eliminate the wheel-terrain interaction errors in the lunar rover simulation, the error causes were analyzed, and a method of optimization based on kinematics was described to solve the problem. The experiment results on the lunar rover simulation system validate the approach.
Citation statistics
Cited Times:1[CSCD]   [CSCD Record]
Document Type期刊论文
Corresponding Author刘霁
Recommended Citation
GB/T 7714
刘霁,王越超,周船,等. 月球机器人仿真中一种消除轮地交互误差的方法[J]. 系统仿真学报,2008,20(14):3733-3737,3741.
APA 刘霁,王越超,周船,&和永智.(2008).月球机器人仿真中一种消除轮地交互误差的方法.系统仿真学报,20(14),3733-3737,3741.
MLA 刘霁,et al."月球机器人仿真中一种消除轮地交互误差的方法".系统仿真学报 20.14(2008):3733-3737,3741.
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