|Table of Contents|

Terrain Estimation for Rocker一bogie Planet Rover Based on
Suspension Kinematics
(PDF)

《哈尔滨理工大学学报》[ISSN:1007-2683/CN:23-1404/N]

Issue:
2015年03期
Page:
24-028
Research Field:
机械动力工程
Publishing date:

Info

Title:
Terrain Estimation for Rocker一bogie Planet Rover Based on
Suspension Kinematics
Author(s):
LI Nan
GAO Hai-bo
DING Liang
G UO Jun一long
wANG TX}en-tao2
DENG Zong-guar
(1 .State Key Laboratory of Robotics and System, Harbin Institute of Technology,Harbin 150001,China
2. School of Automation,Harbin University of Science and Technology Harbin 150080,Chian)
Keywords:
planet roverterrain estimationkinematics
PACS:
TP242. 3
DOI:
-
Abstract:
As most of the rover suspension is rocker-bogie structure,a regional terrain estimation based onpension kinematics is proposed. Mathematical model is set up by analyzing rover suspension kinematics model.cording to the terrain estimation model,the terrain under the wheels can be estimated by the posture of rover andgle of rocker. This method estimates the terrain just by suspension kinematics without special topographic perceptionequipment such as binocular camera and laser radar,so its energy consumption and data processing is less. Kinemat-ics Matlab simulation platform isalso set up to verify this method which is effective in in many working conditions.

References:

-

Memo

Memo:
-
Last Update: 2015-08-24