Trajectory Tracking and Attitude Identification of the Lunar Rover Based on Computer Vision
The position and attitude identification of rover is very important for the lunar exploration,which is the precondition of path planning and trajectory tracking control of rover.It is a effective method by visual servo tracking for rover. The motion tracking model based on Kalman filter is proposed by visual feedback signal.The equations are derived for attitude identification based on four rhomboid point configurations.The conclusion by simulation and experiments prove the feasibility of trajectory tracking and attitude identification for rover based on computer vision.The research results in the paper provide the theoretical basis for the position and attitude identification of rover based on stereo vision and has some reference values in practical application.
Jianjun DU Dan HU Jianjun ZHU Dun LIU
Shenzhen Graduate School Harbin Institute of Technology Shenzhen,Guangdong Province 518055,China School of Astronautics Harbin Institute of Technology Harbin,Heilongjiang Province 150001,China
国际会议
深圳
英文
680-684
2011-06-06（万方平台首次上网日期，不代表论文的发表时间）