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火星车自主导航与路径规划技术研究
魏祥泉, 黄建明, 顾冬晴, 陈凤
上海宇航系统工程研究所, 上海 201109
摘要:
针对火星车工作任务环境,借鉴国外成功研究经验,给出了火星车自主导航敏感器配置,研究可在实际工程中应用的火星车自主导航与路径规划技术,包括DEM图构建与障碍物检测、全局路径规划、基于立体视觉相机的视觉里程计、多传感器融合位姿确定以及局部路径规划技术,并搭建了实验系统,在实验室内进行了仿真验证。相关研究结果可为我国后续开展火星车自主导航系统研究提供一定的基础。
关键词:  火星车自主导航;路径规划;视觉里程计;多传感器信息融合
DOI:10.15982/j.issn.2095-7777.2016.03.012
分类号:
基金项目:国家自然科学基金(61573247)
Researches on the Techniques of Autonomous Navigation and Path Planning for Mars Rover
WEI Xiangquan, HUANG Jianming, GU Dongqing, CHEN Feng
Aerospace System Engineering Shanghai, Shanghai 201109, China
Abstract:
Considering the mission environment, through drawing lessons from international research experience, the sensor configuration of autonomous navigation of mars rover is given, and the autonomous navigation and path planning techniques which can be used in aerospace engineering are investigated in this paper. According to the requirement of autonomous navigation and riding for rover on mars, the involved techniques are deeply researched, such as DEM(Digital Elevation Model) construction and obstacle detection, global path planning, video odometer based on stereo vision, pose determination based on multi-sensor fusion as well as local path planning. A set of experimental system was established, and the simulation experiment was carried in laboratory. The relative research results can offer some basis for the researches of autonomous navigation system for succeeding mars rover.
Key words:  autonomous navigation;path planning;video odometer;multi-sensor fusion