[1]尤 波,田 朋,丁 亮,等. 星球探测车运行方式选择策略[J].哈尔滨理工大学学报,2018,(02):40-45.[doi:10. 15938/j. jhust. 2018. 02. 008]
 YOU Bo,TIAN Peng,DING Liang,et al. Planet Rover Operation Mode Selection Strategy[J].哈尔滨理工大学学报,2018,(02):40-45.[doi:10. 15938/j. jhust. 2018. 02. 008]
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 星球探测车运行方式选择策略
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《哈尔滨理工大学学报》[ISSN:1007-2683/CN:23-1404/N]

卷:
期数:
2018年02期
页码:
40-45
栏目:
材料科学与工程
出版日期:
2018-02-25

文章信息/Info

Title:
 Planet Rover Operation Mode Selection Strategy
文章编号:
1007-2683( 2018) 02-0040-06
作者:
 尤 波1 田 朋1 丁 亮2 高海波2
 ( 1. 哈尔滨理工大学 自动化学院,黑龙江 哈尔滨 150080;2. 哈尔滨工业大学 机电工程学院,黑龙江 哈尔滨 150001)
Author(s):
 YOU Bo1 TIAN Peng1 DING Liang2 GAO Hai-bo2
 ( 1. School of Automation,Harbin University of Science and Technology,Harbin 150080,China; 2. School of Mechanical and Electrical Engineering,Harbin Institute of Technology,Harbin 150001,China)
关键词:
 星球探测车传感器检测越障运行方式选择
Keywords:
 planet rover sensor detection obstacle crossing operation mode choice
分类号:
TP273
DOI:
10. 15938/j. jhust. 2018. 02. 008
文献标志码:
A
摘要:
 :在外太空复杂的未知环境下,星球探测车如何以尽可能短的路径安全的行驶到目标位 置是探测车完成探测任务的前提条件。针对此问题,提出了一种探测车在复杂地形环境下的运行 方式选择策略,此策略采用多种传感器实时检测车体运行周围障碍物信息和车体运行参数的方法, 对车体进行避障或是越障运行方式进行判断选择,在越障的同时检测车体姿态角度、加速度和驱动 电机电流的变化情况以对车体运行的安全性进行判断。此策略增加了探测车自主运行的灵活性, 可在保证车体运行安全的前提下减少探测车的行驶路径
Abstract:
Under the complex unknown environment of outer space,how the planet rovers safely run to the target location in a competitive short path is the precondition of finishing planet rover’ s exploring mission. In response to this issue,this paper proposes a strategy of the way in which planet rover works under the complex terrain environment. This strategy adopts a variety of sensors to test the obstacle information around when the planet rover is running and the way of vehicle running parameters in real time. It aims at making choices and adjudgements of vehicle’s operation way in the process of obstacle avoidance and crossing. At the same time of obstacle crossing,it detects vehicle’s posture angle and the change of acceleration and drive motor current situation to determine the safety of vehicle running. Meanwhile,the strategy will make the planet rover more flexible which is operating automatically. It also can reduce the planet rover’s running path on the premise of ensuring the vehicle’s safe operation.

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更新日期/Last Update: 2018-06-30