Motion planning for mechanical of lunar rover to surveying - 文章详情页

作者：

Zhang, Liangping (Zhang, Liangping.) | Ju, Hehua (Ju, Hehua.)

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EI Scopus

摘要：

This　paper　improved　the　planning　for　mechanical　at　3-DOF　lunar　rover　in　two　aspect.　First,　motion　planning　by　SA∗　heuristic　algorithm,　which　minimize　the　change　of　configuration,　enhance　the　security　and　efficiency　of　the　surveying　for　mechanical　of　lunar　rover　in-site.　Second,　we　in　delaunay　triangulation　the　environmental　point　cloud　in　collision　detection,　which　interpret　the　problem　of　collision　detection　to　position　relationship　between　line　and　plane.　©　2014　TCCT,　CAA.

关键词：

Heuristic algorithms Kinematics Manipulators Moon Motion planning Robot programming Surveys

作者机构：

[ 1 ] [Zhang, Liangping]Beijing University of Technology, Electronic Information and Control Engineering, Beijing; 100022, China
[ 2 ] [Ju, Hehua]Beijing University of Technology, Study of the Deep Space Exploration, Beijing; 100022, China

通讯作者信息：

[zhang, liangping]beijing university of technology, electronic information and control engineering, beijing; 100022, china

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