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Traversability based obstacle avoidance path-planning and path-following control for lunar rover
Li, LH (Li, Linhui); Lian, J (Lian, Jing); Huang, HY (Huang, Haiyang); Wang, HX (Wang, Hongxu); Zong, YP (Zong, Yunpeng); Zhang, RH (Zhang, Ronghui)
2015
发表期刊JOURNAL OF INTELLIGENT & FUZZY SYSTEMS
ISSN1875-8967
卷号28期号:2页码:547-559
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.
关键词Lunar Rover Path-planning Fuzzy Computing Path-following Control
DOI10.3233/IFS-141331
收录类别SCI
WOS记录号WOS:000348366900006
引用统计
文献类型期刊论文
条目标识符http://ir.xjipc.cas.cn/handle/365002/4212
专题多语种信息技术研究室
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
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GB/T 7714
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.
APA Li, LH ,Lian, J ,Huang, HY ,Wang, HX ,Zong, YP ,&Zhang, RH .(2015).Traversability based obstacle avoidance path-planning and path-following control for lunar rover.JOURNAL OF INTELLIGENT & FUZZY SYSTEMS,28(2),547-559.
MLA Li, LH ,et al."Traversability based obstacle avoidance path-planning and path-following control for lunar rover".JOURNAL OF INTELLIGENT & FUZZY SYSTEMS 28.2(2015):547-559.
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