Abstract
In this paper, we propose a motion planning algorithm for Mars Rover to realize the smooth and steady action when crossing obstacles and ultimately achieve the purpose of autonomous movement. The research described in this paper includes the following aspects. First, finish kinematics modeling and analyze some basic movement patterns when the rover is doing planar motion and get the results of the inverse kinematics. Then validate the result in the virtual simulation environment. Second, conduct the kinematics analysis for the Mars rover when it crosses some specific obstacles such as climbing a slope. Third, get the optimized strategy of motion planning and determine the overall plan scheme when crossing obstacles.
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Acknowledgments
Supported by National Natural Science Foundation of China (Grant No. 61273331).
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Tan, Y., Zhang, H., Cao, Q. (2015). Motion Planning Algorithm Based on Environmental Information for Mars Rover. In: Deng, Z., Li, H. (eds) Proceedings of the 2015 Chinese Intelligent Automation Conference. Lecture Notes in Electrical Engineering, vol 338. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-662-46466-3_12
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DOI: https://doi.org/10.1007/978-3-662-46466-3_12
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