基于模糊逻辑的月球车逆运动学求解方法  

A Method to Solve Inverse Kinematics of Lunar Rover Using Fuzzy Logic

作　　者：居鹤华[1] 曹亮[1] 崔平远[1] 

机构地区：[1]北京工业大学电子信息与控制工程学院,北京100022

出　　处：《宇航学报》2006年第4期643-647,共5页Journal of Astronautics

基　　金：国家自然科学基金(60374067);北京市科技发展计划项目(Km200510005018)

摘　　要：研究了月球车逆运动学问题,即在月面数字地形图、月球车水平面坐标和航向角给定时,实时估计6轮摇臂转向架式月球车质心高度、位形(configuration)和姿态中的俯仰角和横滚角的问题。分析了6轮摇臂转向架式(rocker-bogie)月球车运动学模型,提出使用模糊逻辑结合虚拟传感器快速实时求解月球车逆运动学问题的新方法。此方法在月球车三维仿真平台中得到验证。实验结果表明此方法求解速度小于1/40s,同时保证月球车车轮到地面的距离小于0.02m。This paper presents a method to solve inverse kinematics of lunar rover. It estimates a six-wheels-rocker-bogie lunar rover＇ s attitude and configuration in real time which depend on available digital terrain map, rover position and rover yaw. We analyzed kinematics model of rocker-bogie rover. Then we applied fuzzy logic and virtual sensors to solve inverse kinematics of rocker-bogie rover. In addition, simulation experiment supports the effectiveness of this method in 3D virtual environment. It can solve the problem within 1/40s and at the same time ensure distances between lunar rover＇ s wheels and ground are less than 0.02m.

关 键 词：逆运动学 模糊逻辑 虚拟传感器 月球车姿态 月球车位形 

分 类 号：V476.3[航空宇航科学与技术—飞行器设计]