Motion Planning Algorithm Based on Environmental Information for Mars Rover

摘要：

　　In this paper,we propose a motion planning algorithm for Mars Rover to realize the smooth and steady action when crossing obstacles and ultimately achieve the purpose of autonomous movement.The research described in this paper includes the following aspects.First,finish kinematics modeling and analyze some basic movement patterns when the rover is doing planar motion and get the results of the inverse kinematics.Then validate the result in the virtual simulation environment.Second,conduct the kinematics analysis for the Mars rover when it crosses some specific obstacles such as climbing a slope.Third,get the optimized strategy of motion planning and determine the overall plan scheme when crossing obstacles.

关键词： Kinematics modeling Inverse kinematics equations Crossing obstacles Motion planning strategies

作者: Yuanjie Tan Haoruo Zhang Qixin Cao

作者单位: Institute of Robotics,Shanghai Jiao Tong University,No.800 Dongchuan Road,Minhang,Shanghai,China

会议类型: 国际会议

会议名称: The 2015 Chinese Intelligent Automation Conference(2015中国智能自动化会议)

会议地点: 福州

会议语种:英文

页码: 109-116

在线出版日期: 2015-05-08（万方平台首次上网日期，不代表论文的发表时间）