基于三维通行性的月球车自主导航  

Traversability-based Lunar Rover Autonomous Navigation in Three-Dimensional Terrain

作　　者：徐璐[1] 曹亮[1] 居鹤华[1] 陈阳舟[1] 

机构地区：[1]北京工业大学自主导航实验室,北京100022

出　　处：《系统仿真学报》2007年第12期2852-2856,共5页Journal of System Simulation

基　　金：国家自然科学基金(60374067)

摘　　要：针对月球车的三维自主导航,提出了一种新的基于障碍物分类的通行性方法。通过对障碍物的几何特性和地形分析得到障碍分类图和平均坡度图,同时计算通行性指数作为月球车三维路径规划的评价函数。运用行为控制方法实现月球车的自主导航。最后给出了仿真结果,并论证了所提出的方法的实时性与有效性。A new method was proposed based on the traversability of obstacle classification aiming at the lunar rover＇s autonomous navigation in three-dimensional terrain. Through the analysis to the terrain and obstacle＇s geometry characteristic, the obstacle classification mop and mean slope mop were obtained. The traversability index was calculated as the rover＇s 3D path planning cost function. By the behavior control method, the rover navigates autonomously, The simulation results show that the method is efficient and feasible.

关 键 词：通行性 障碍分类 月球车 路经规划 自主导航 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]