五轮铰接式月球机器人的全局路径规划  

Global Path Planning for Five-Wheel Articulated Lunar Robot

作　　者：刘方湖[1] 马培荪[1] 陈建平[1] 祝捷[1] 姚沁[1] 

机构地区：[1]上海交通大学机械工程学院,上海200030

出　　处：《上海交通大学学报》2001年第12期1785-1788,共4页Journal of Shanghai Jiaotong University

摘　　要：为了满足五轮铰接式月球机器人 (FWALR)的避障及在月面上作业的要求 ,针对 FWALR的结构特点、月球上凹凸不平的三维地形和机器人车轮与地面的相互作用 ,提出了基于虚拟传感器的双向全局路径规划方法和降维法 .用此方法对 FWALR进行了全局路径规划及仿真试验 。In order to meet the requirements for the obstacle avioidance and operation on the moon of a five wheel articulated lunar robot (FWALR), based on the structure characteristics of FWALR, the 3 dimensional (3 D) uneven terrain on the moon and the wheel terrain interaction, it presented a double direction global path planning method based on virtual sensors and a dimension reduced method. With the method, it completed the global path planning for the FWALR and its corresponding simulation. As a result, a feasible path is found, which validates the feasibility of the global path planning method.

关 键 词：月球机器人 移动机器人 运动规划 路径规划 五轮铰接式 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]