The triaxiality environment path planning for lunar rover in virtual terrain
- Paper number
IAC-06-A3.P.6.06
- Author
Ms. Lu Xu, Beijing University of Technology, China
- Coauthor
Mr. Ju He-Hua, Beijing University of Technology, China
- Coauthor
Dr. Yangzhou Chen, Beijing University of Technology, China
- Year
2006
- Abstract
This paper presents a new method for lunar rover path planning and obstacle avoidance in virtual triaxiality environment. The method takes into account the two-dimension configuration space and gradient information. Firstly, classify the terrain according with the capacity of rover’s climbing and the motion bound. It is the obstacle whose grade is larger than the rover’s climbing capacity and it is the free district whose grade and area are both less than the rover’s guideline. Secondly, superimpose a 2D Cartesian grid on the two-dimension map. The value of grid is directly proportional to the location’s gradient, directly proportional to the area of obstacle occupied, and inversely proportional to the distance from the grid to the goal. Lastly, plan the rover using the behavior control method in which the motion direction is towards the grid whose value is minimum. There are two basic behaviors which are the moving to goal behavior and obstacle avoidance behavior. Thereinto the moving to goal behavior adopts fuzzy control method and the obstacle avoidance behavior uses VFH method. Additionally, the behaviors consider the dynamics and kinematics restrict conditions. The method has been tested in triaxiality environment simulation and the results support the validity of the method.
- Abstract document
- Manuscript document
IAC-06-A3.P.6.06.pdf (🔒 authorized access only).
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