DocumentCode
233257
Title
Motion planning for mechanical of lunar rover to surveying
Author
Liangping Zhang ; Hehua Ju
Author_Institution
Electron. Inf. & Control Eng., Beijing Univ. of Technol., Beijing, China
fYear
2014
fDate
28-30 July 2014
Firstpage
8553
Lastpage
8558
Abstract
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.
Keywords
collision avoidance; manipulator kinematics; mesh generation; planetary rovers; simulated annealing; 3-DOF lunar rover; Delaunay triangulation; SA* heuristic algorithm; collision detection; environmental point cloud; kinematics; manipulator; mechanical; motion planning; planning improvement; position relationship; Collision avoidance; Control engineering; Educational institutions; Electronic mail; Moon; Nickel; Planning; Collision detection; Kinematics; Manipulator; Motion planning;
fLanguage
English
Publisher
ieee
Conference_Titel
Control Conference (CCC), 2014 33rd Chinese
Conference_Location
Nanjing
Type
conf
DOI
10.1109/ChiCC.2014.6896436
Filename
6896436
Link To Document