...
  • 主题
高级搜索  >
历史搜索 清空历史
首页> 外文期刊>International Journal of Innovative Computing Information and Control >MARS ROVER LOCALIZATION AND PATH-PLANNING BASED ON LIDAR AND ANT COLONY OPTIMIZATION
【24h】

MARS ROVER LOCALIZATION AND PATH-PLANNING BASED ON LIDAR AND ANT COLONY OPTIMIZATION

机译：基于激光雷达和蚁群优化的火星车定位及路径规划

获取原文
获取原文并翻译 | 示例
           
页面导航
  • 摘要
  • 著录项
  • 相似文献
  • 相关主题

摘要

This paper presents a novel method for Mars Exploration Rover (MER) localization and path-planning by means of the terrain data from the light radio detecting and radar (LIDAR) in the final descent phase. Firstly, the real 3D terrain data of landing area from LIDAR in probe body coordinate system is transformed into a topographic map of roving area in landing site coordinate system. The map is further quantized and processed to generate a hazard map corresponding with real craters and rocks, which will be downloaded to the MER navigation database. Then, a novel path-planning algorithm based on ant colony optimization (ACO) is presented. Goal-oriented behavior, inertial behavior and obstacle-following behavior are appended to every ant individual of ACO by means of the fusion of behavior weights. Moreover, the shortest path from landing point to the exploration site is optimized by the tight-rope algorithm on the base of the path-planning result of ACO. The method and software developed are tested by using simulating data and the validity of the path planning algorithm is testified by simulation.
机译：本文提出了一种新的火星探测漫游器（MER）定位和路径规划方法，该方法利用了处于最后下降阶段的光无线电检测和雷达（LIDAR）的地形数据。首先，将探测器体坐标系中来自激光雷达的着陆区的真实3D地形数据转换为着陆点坐标系中的粗纱区的地形图。对该地图进行进一步量化和处理，以生成与真实陨石坑和岩石相对应的危险地图，并将其下载到MER导航数据库中。然后，提出了一种新的基于蚁群优化的路径规划算法。通过行为权重的融合，将面向目标的行为，惯性行为和障碍跟随行为附加到ACO的每个蚂蚁个体上。此外，在ACO的路径规划结果的基础上，通过紧绳算法优化了从着陆点到勘探地点的最短路径。通过仿真数据测试了所开发的方法和软件，并通过仿真验证了路径规划算法的有效性。

著录项

相似文献

  • 外文文献
  • 中文文献
  • 专利
获取原文

客服邮箱：kefu@zhangqiaokeyan.com

京公网安备：11010802029741号 ICP备案号：京ICP备15016152号-6 六维联合信息科技 (北京) 有限公司©版权所有

  • 客服微信

  • 服务号