深空探测学报2016，Vol.3Issue(3)：275-281,7.DOI:10.15982/j.issn.2095-7777.2016.03.012
火星车自主导航与路径规划技术研究
Researches on the Techniques of Autonomous Navigation and Path Planning for Mars Rover
摘要
Abstract
Considering the mission environment,through drawing lessons from international research experience,the sensor configuration of autonomous navigation of mars rover is given,and the autonomous navigation and path planning techniques which can be used in aerospace engineering are investigated in this paper. According to the requirement of autonomous navigation and riding for rover on mars,the involved techniques are deeply researched,such as DEM(Digital Elevation Model)construction and obstacle detection,global path planning,video odometer based on stereo vision,pose determination based on multi-sensor fusion as well as local path planning. A set of experimental system was established,and the simulation experiment was carried in laboratory. The relative research results can offer some basis for the researches of autonomous navigation system for succeeding mars rover.关键词
火星车自主导航/路径规划/视觉里程计/多传感器信息融合Key words
autonomous navigation/path planning/video odometer/multi-sensor fusion分类
航空航天引用本文复制引用
魏祥泉,黄建明,顾冬晴,陈凤..火星车自主导航与路径规划技术研究[J].深空探测学报,2016,3(3):275-281,7.基金项目
国家自然科学基金 （）
