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题名: A navigation simulation system of lunar rover
作者: Liu J(刘霁) ; Wang YC(王越超) ; Zhou C(周船) ; Geng YF(耿沿锋) ; Cong Y(丛杨)
作者部门: 机器人学研究室
会议名称: IEEE International Conference on Networking, Sensing and Control
会议日期: April 6-8, 2008
会议地点: Sanya, China
会议主办者: IEEE Syst, Man & Cybernet Soc
会议录: PROCEEDINGS OF 2008 IEEE INTERNATIONAL CONFERENCE ON NETWORKING, SENSING AND CONTROL, VOLS 1 AND 2
会议录出版者: IEEE
会议录出版地: NEW YORK
出版日期: 2008
页码: 556-561
收录类别: CPCI(ISTP) ; EI
ISSN号: 1810-7869
ISBN号: 978-1-4244-1685-1
关键词: kinematics model ; lunar rover ; rover-terrain interaction ; navigation simulation
摘要: This paper presents a navigation simulation system on lunar rover. With virtual reality technology, this system serves to verify the kinematics model and the validity of the planning-path for navigating lunar rover. Because the lunar terrain can not be treated as the 2D surface, the kinematics modeling of lunar rover unlike ordinary mobile robots needs to contain the information about terrain. This model assumes that the point of wheel-terrain point changes continuously. However, the terrain geometry and discretization in simulation do not meet this assumption so that error will destroy the simulation effect. An optimization strategy is proposed to eliminate this error and keeps tight contact between the wheels and the terrain. Finally, experiments validate the optimization method and the whole simulation system.
语种: 英语
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/8493
Appears in Collections:机器人学研究室_会议论文

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Recommended Citation:
刘霁; 王越超; 周船; 耿沿锋; 丛杨.A navigation simulation system of lunar rover.见:IEEE .PROCEEDINGS OF 2008 IEEE INTERNATIONAL CONFERENCE ON NETWORKING, SENSING AND CONTROL, VOLS 1 AND 2,NEW YORK,2008,556-561
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