| 引用本文: | 史美萍,吴军,李焱,等.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.[点击复制] |
| SHI Meiping,WU Jun,LI Yan,et al.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[点击复制] |
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| 面向月球车路径规划的多约束环境建模方法 |
| 史美萍, 吴军, 李焱, 贺汉根 |
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(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。 |
| 关键词: 月球车 路径规划 环境建模 MCWM方法 |
| DOI： |
| 投稿日期：2006-05-28 |
| 基金项目:国家自然科学基金重点资助项目(60234030) |
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| A Multi-constrained World Modeling Method in Lunar Rover Path-planning |
| SHI Meiping, WU Jun, LI Yan, HE Hangen |
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(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. |
| Keywords: lunar rover path-planning world modeling MCWM method |
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