小天体表面探测器弹跳运动与路径规划

Bang Wang, Rui Xu*, Zhaoyu Li, Yue Gao

*此作品的通讯作者

科研成果: 期刊稿件文章同行评审

摘要

To address the problem that wheeled mobile rovers are difficult to adapt to the weak gravitational environment of small bodies. The jumping mode of the rover with cubic configuration was analyzed. A single-step bouncing strategy was proposed to exploit its barrier-crossing capability. At the same time,a variable-step A* algorithm was proposed to plan the surface movement path of the rover. The simulation results show that the rover can effectively cross the obstacles. The new algorithm reduces the path nodes and is more efficient for high-density obstacle terrain.

投稿的翻译标题Bouncing Motion and Path Planning of Small Body Surface Rover
源语言繁体中文
页(从-至)447-454
页数8
期刊Journal of Deep Space Exploration
9
4
DOI
出版状态已出版 - 8月 2022

关键词

  • path planning
  • small body defense
  • surface bouncing

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