Abstract
This paper presents a method to solve inverse kinematics of lunar rover. It estimates a six-wheels-rocker-bogie lunar rover's attitude and configuration in real time which depend on available digital terrain map, rover position and rover yaw. We analyzed kinematics model of rocker-bogie rover. Then we applied fuzzy logic and virtual sensors to solve inverse kinematics of rocker-bogie rover. In addition, simulation experiment supports the effectiveness of this method in 3D virtual environment. It can solve the problem within 1/40 s and at the same time ensure distances between lunar rover' s wheels and ground are less than 0.02 m.
| Original language | English |
|---|---|
| Pages (from-to) | 643-647 |
| Number of pages | 5 |
| Journal | Yuhang Xuebao/Journal of Astronautics |
| Volume | 27 |
| Issue number | 4 |
| Publication status | Published - Jul 2006 |
| Externally published | Yes |
Keywords
- Fuzzy control
- Inverse kinematics
- Rover attitude
- Rover configuration
- Virtual sensor