| 面向月球车路径规划的多约束环境建模方法 |
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| 引用本文： | 史美萍,吴军,李焱,贺汉根.面向月球车路径规划的多约束环境建模方法[J].国防科技大学学报,2006,28(5):104-108 ,118. |
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| 作者姓名： | 史美萍 吴军 李焱 贺汉根 |
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| 作者单位： | 国防科技大学,机电工程与自动化学院,湖南,长沙,410073 |
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| 摘 要： | 面向月球车路径规划,从建立合理、鲁棒的月面环境模型的需求出发,提出了一种新的多约束环境建模方法———MCWM方法,它综合考虑了月面地形的可通行性、系统的不确定性、人机协同性和运动的平稳性等四个因素,最后产生了一个能支持路径规划的综合代价地图———MCWM模型。仿真结果表明,MCWM方法合理、有效,可提高所规划路径的安全性和可执行性。
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| 关 键 词： | 月球车 路径规划 环境建模 MCWM方法 |
| 文章编号： | 1001-2486(2006)05-0104-05 |
| 收稿时间： | 2006/5/28 0:00:00 |
| 修稿时间： | 2006年5月28日 |
A Multi-constrained World Modeling Method in Lunar Rover Path-planning |
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| SHI Meiping,WU Jun,LI Yan and HE Hangen.A Multi-constrained World Modeling Method in Lunar Rover Path-planning[J].Journal of National University of Defense Technology,2006,28(5):104-108 ,118. |
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| Authors: | SHI Meiping WU Jun LI Yan and HE Hangen |
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| Institution: | College of Mechatronics Engineering and Automation, National Univ. of Defense Technology, Changsha 410073, China;College of Mechatronics Engineering and Automation, National Univ. of Defense Technology, Changsha 410073, China;College of Mechatronics Engineering and Automation, National Univ. of Defense Technology, Changsha 410073, China;College of Mechatronics Engineering and Automation, National Univ. of Defense Technology, Changsha 410073, China |
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| Abstract: | To build a feasible and robust setting model in lunar rover path-planning,MCWM,a novel method of setting modeling,was proposed. The terrain traversability,system uncertainty,human-machine cooperation and movement smoothness were taken into account.Then,for the creation of MCWM model,a synthetic cost map for path-planning was created.Simulation results show that MCWM can improve the safety and performability of the path,thus the feasibility and validity of the modeling is confirmed. |
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| Keywords: | lunar rover path-planning world modeling MCWM method |
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