SIA OpenIR  > 机器人学研究室
A navigation simulation system of lunar rover
Liu J(刘霁); Wang YC(王越超); Zhou C(周船); Geng YF(耿沿锋); Cong Y(丛杨)
Department机器人学研究室
Conference NameIEEE International Conference on Networking, Sensing and Control
Conference DateApril 6-8, 2008
Conference PlaceSanya, China
Author of SourceIEEE Syst, Man & Cybernet Soc
Source PublicationPROCEEDINGS OF 2008 IEEE INTERNATIONAL CONFERENCE ON NETWORKING, SENSING AND CONTROL, VOLS 1 AND 2
PublisherIEEE
Publication PlaceNEW YORK
2008
Pages556-561
Indexed ByEI ; CPCI(ISTP)
EI Accession number20083411465037
WOS IDWOS:000255017800109
Contribution Rank1
ISSN1810-7869
ISBN978-1-4244-1685-1
KeywordKinematics Model Lunar Rover Rover-terrain Interaction Navigation Simulation
AbstractThis 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.
Language英语
Citation statistics
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/8493
Collection机器人学研究室
Corresponding AuthorLiu J(刘霁)
Affiliation1.Graduate Univerisity of Chinese Academy of Sciences, State Key Laboratory of Robotics at Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, 110016, China
Recommended Citation
GB/T 7714
Liu J,Wang YC,Zhou C,et al. A navigation simulation system of lunar rover[C]//IEEE Syst, Man & Cybernet Soc. NEW YORK:IEEE,2008:556-561.
Files in This Item: Download All
File Name/Size DocType Version Access License
HYQW000096.pdf(4912KB)会议论文 开放获取CC BY-NC-SAView Download
Related Services
Recommend this item
Bookmark
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[Liu J(刘霁)]'s Articles
[Wang YC(王越超)]'s Articles
[Zhou C(周船)]'s Articles
Baidu academic
Similar articles in Baidu academic
[Liu J(刘霁)]'s Articles
[Wang YC(王越超)]'s Articles
[Zhou C(周船)]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[Liu J(刘霁)]'s Articles
[Wang YC(王越超)]'s Articles
[Zhou C(周船)]'s Articles
Terms of Use
No data!
Social Bookmark/Share
File name: HYQW000096.pdf
Format: Adobe PDF
All comments (0)
No comment.
 

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.