摘要
针对松软地形环境下滑移导致的路径规划失效问题,研究一种基于地形坡度进行滑移预测的路径规划算法。设计一种滑移预测算法,利用地形坡度信息进行滑移预测;将预测的滑移信息与地形通过性评价函数相结合,建立适宜度地图,实现滑移预测与路径规划算法集成;该路径规划算法通过滑移预测可以选择更好的路径或者避开高度滑移地区,提高复杂地形环境下尤其松软地形环境下路径规划的有效性,为月球车的自主导航的研究奠定了重要的理论基础。
Aiming at the problem of path planning failure caused by slip in soft terrain environment,we study a path planning algorithm based on terrain slip prediction.We designed a slip prediction algorithm,and it used terrain slope information to predict slip.Combining the predicted slip information with the terrain traversability evaluation function,the suitability map was established to integrate the slip prediction with the path planning algorithm.The path planning algorithm can choose better path or avoid high slip area by slip prediction,which improves the effectiveness of path planning in complex terrain,especially in soft terrain,and lays an important theoretical foundation for autonomous navigation of lunar rover.
作者
周兰凤
杨丽娜
方华
汤汉伟
Zhou Lanfeng;Yang Lina;Fang Hua;Tang Hanwei(School of Computer Science and Information Engineering,Shanghai Institute of Technology,Shanghai 201418,China)
出处
《计算机应用与软件》
北大核心
2019年第12期282-284,328,共4页
Computer Applications and Software
基金
国家自然科学基金项目(41671402)
关键词
地形坡度
滑移预测
路径规划
Terrain slope
Slip prediction
Path planning
