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题名: Traversability based obstacle avoidance path-planning and path-following control for lunar rover
作者: Li, LH (Li, Linhui); Lian, J (Lian, Jing); Huang, HY (Huang, Haiyang); Wang, HX (Wang, Hongxu); Zong, YP (Zong, Yunpeng); Zhang, RH (Zhang, Ronghui)
关键词: Lunar rover ; path-planning ; fuzzy computing ; path-following control
刊名: JOURNAL OF INTELLIGENT & FUZZY SYSTEMS
发表日期: 2015
DOI: 10.3233/IFS-141331
卷: 28, 期:2, 页:547-559
收录类别: SCI
英文摘要: In this paper, an obstacle avoidance path-planning algorithm and a path-following controller are developed for a lunar rover in simulated 3-D lunar terrains. Firstly, traversability analysis of the lunar surface is studied based on the weighted least squares method and fuzzy computing. Secondly, a polar coordinates histogram is built around the rover to measure the traversability to enable selection of the optimal driving direction. Thirdly, a longitudinal traction coordinating controller based on sliding mode theory and a latitudinal trajectory tracking controller based on optimal theory are proposed to follow the desired path. Finally, a six-wheel lunar rover with Rocker Bogie model is established in ADAMS software, and co-simulation between ADAMS and MATLAB/Simulink are carried out to verify the effectiveness of the proposed algorithm.
WOS记录号: WOS:000348366900006
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内容类型: 期刊论文
URI标识: http://ir.xjipc.cas.cn/handle/365002/4212
Appears in Collections:多语种信息技术研究室_期刊论文

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作者单位: Dalian Univ Technol, Sch Automot Engn, Fac Vehicle Engn & Mech, State Key Lab Struct Anal Ind Equipment, Dalian 116024, Peoples R China;Chinese Acad Sci, Xinjiang Tech Inst Phys & Chem, Xinjiang, Peoples R China

Recommended Citation:
Li, LH ,Lian, J ,Huang, HY ,et al. Traversability based obstacle avoidance path-planning and path-following control for lunar rover[J]. JOURNAL OF INTELLIGENT & FUZZY SYSTEMS,2015,28(2):547-559.
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