Terrain Data Real-Time Analysis Based on Point Cloud for Mars Rover
With the development of space exploration,more and more aerospace researchers pay attention to Mars and Mars rover that has a capability of autonomous navigation will gradually become the focus of the study.Above all,we need to realize a real-time modeling and analysis of unknown environment,providing necessary real-time information for Mars rover motion planning,and ultimately achieving autonomous navigation.First,the research content is briefly introduced.Then,visual sensor on Mars rover is used to acquire 3D point cloud area in real-time environment and 3D grid map is created to reduce the complexity of 3D map for real-time analysis.Third,relying on the established 3D grid map,terrain and environmental information are analyzed and identified and necessary information for Mars rover motion planning is provided.
Vision sensor 3D point cloud 3D grid map Obstacle crossing possibility Obstacle feature
Haoruo Zhang Yuanjie Tan Qixin Cao
Institute of Robotics,Shanghai Jiao Tong University,No.800 Dongchuan Road,Minhang,Shanghai,China
国际会议
The 2015 Chinese Intelligent Automation Conference(2015中国智能自动化会议)
福州
英文
99-107
2015-05-08（万方平台首次上网日期，不代表论文的发表时间）