摘要
研究了月球车逆运动学问题,即在月面数字地形图、月球车水平面坐标和航向角给定时,实时估计6轮摇臂转向架式月球车质心高度、位形(configuration)和姿态中的俯仰角和横滚角的问题。分析了6轮摇臂转向架式(rocker-bogie)月球车运动学模型,提出使用模糊逻辑结合虚拟传感器快速实时求解月球车逆运动学问题的新方法。此方法在月球车三维仿真平台中得到验证。实验结果表明此方法求解速度小于1/40s,同时保证月球车车轮到地面的距离小于0.02m。
This paper presents a method to solve inverse kinematics of lunar rover. It estimates a six-wheels-rocker-bogie lunar rover＇ s attitude and configuration in real time which depend on available digital terrain map, rover position and rover yaw. We analyzed kinematics model of rocker-bogie rover. Then we applied fuzzy logic and virtual sensors to solve inverse kinematics of rocker-bogie rover. In addition, simulation experiment supports the effectiveness of this method in 3D virtual environment. It can solve the problem within 1/40s and at the same time ensure distances between lunar rover＇ s wheels and ground are less than 0.02m.
出处
《宇航学报》
EI
CAS
CSCD
北大核心
2006年第4期643-647,共5页
Journal of Astronautics
基金
国家自然科学基金(60374067)
北京市科技发展计划项目(Km200510005018)
