Design and implementation of Chang&amp;rsquo;E-3 rover location system

Zhang, Yuhua; Xiao, Jie; Zhang, Xiaowei; Dian-fu, Liu; Zou, HuaiWu

doi:10.1360/092014-50

Cited by 6 publications

(7 citation statements)

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“…For unit path planning, on the basis of the established traversability map, the path from the current waypoint to the next is searched by path-searching methods such as A* [3,15], or SD*lite [16]. Please note that the mechanical capabilities of the rover, such as climbing ability (<30 degree), obstacle crossing capability (<200 mm) [17], maximum speed 200 m/h [18], are also taken into…”

Section: Path Searchingmentioning

confidence: 99%

“…Please note that the mechanical capabilities of the rover, such as climbing ability (<30 degree), obstacle crossing capability (<200 mm) [17], maximum speed 200 m/h [18], are also taken into account during path searching. The automatically searched path is described by coordinates of start, turning, and end points of the path, as well as the curvature of each segment between these points.…”

Section: Path Searchingmentioning

confidence: 99%

“…Wheels trace prediction of rover spin From Figure 8a it can be seen that sometimes the rover needs to make turns at the start or (and) the end points. According to the design of the rover mobility sub-system [17] which contains the locations of the front, middle, and rear wheels, combining with their transformation relationships to the rover center and the cameras, the wheel trajectories can be determined by them and projected together with the searched paths on the Navcam and Hazcam images.…”

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confidence: 99%

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Vision-Based Decision Support for Rover Path Planning in the Chang’e-4 Mission

et al. 2020

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In planetary rover missions, rover path planning is critical to ensure the safety and efficiency of the rover traverse and in situ explorations. In the Chang’e-4 (CE-4) mission, we have proposed and developed vision-based decision support methods comprising obstacle map generation and path evaluation for the rover. At each waypoint along the rover traverse, digital elevation model (DEM) is automatically generated, which is then used for obstacle map generation and path searching. For path evaluation, the searched path and the predicted wheel trajectories are projected onto the original images captured by different cameras to coincide with the real observation scenario. The proposed methods have been applied in the CE-4 mission to support teleoperation of the rover, and examples of multiple applications used in the mission are presented in this paper. Under the support of the proposed techniques, by the end of the 14th lunar day (3 February 2020), the rover has already travelled 367.25 meters on the far side of the Moon.

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Section: Path Searchingmentioning

confidence: 99%

Section: Path Searchingmentioning

confidence: 99%

mentioning

confidence: 99%

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Vision-Based Decision Support for Rover Path Planning in the Chang’e-4 Mission

et al. 2020

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“…The capability to adapt to complex terrain is an important guarantee for robots to perform tasks in the battlefield. The rocker-bogie type rovers developed for Mars exploration, e.g., the Jade Rabbit 2 1 , the Spirit and Sojourner 2 , adopt a passive articulated suspension to improve its terrain adaptability and do not require a complex control system. Some robots, such as the RHex 3 , ASGUARD 4 and EPI.Q [5][6][7] , move with rotating wheeled-legs to climb obstacles, which simplify the robots' mechanical structure.…”

Section: Introductionmentioning

confidence: 99%

Design and terrain adaptability analysis of a life detection robot for battlefield rescue missions

Song,

Shu,

et al. 2023

Third International Conference on Control and Intelligent Robotics (ICCIR 2023)

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“…A passively-suspended articulated frame could improve the adaptability of wheeled mobile robots for them to work in unstructured environments. Examples of wheeled robots with passively-suspended articulated frames are the rocker-bogie type rovers developed for Mars exploration, e.g., the Perseverance Mars exploration robot [13], the Jade Rabbit 2 lunar exploration robot [14], and the Spirit and Sojourner [15,16]. The two rocker-bogie mechanisms on each side of the robots maintain all the wheels in contact with the ground, providing high terrain adaptability to the uneven terrain or small obstacles for the robots without any actuation for controlling the internal configuration of the locomotion.…”

Section: Introductionmentioning

confidence: 99%

A Portable Six-Wheeled Mobile Robot With Reconfigurable Body and Self-Adaptable Obstacle-Climbing Mechanisms

Song

Luo

Wei

et al. 2022

Journal of Mechanisms and Robotics

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Mobile robots can replace rescuers in rescue and detection missions in complex and unstructured environments and draw the interest of many researchers. This paper presents a novel six-wheeled mobile robot with a reconfigurable body and self-adaptable obstacle-climbing mechanisms, which can reconfigure itself to three locomotion states to realize the advantages of terrain adaptability, obstacle crossing ability and portability. Design criteria and mechanical design of the proposed mobile robot are firstly presented, based on which the geometry of the robot is modelled and the geometric constraint, static conditions and motion stability condition for obstacle crossing of the robot are derived and formulated. Numerical simulations are then conducted to verify the geometric passing capability, static passing capability and motion stability and find feasible structure parameters of the robot in obstacle crossing. Further, a physical prototype of the proposed mobile robot is developed and integrated with mechatronic systems and remote control. Using the prototype, field experiments are carried out to verify the feasibility of the proposed design and theoretical derivations. The results show that the proposed mobile robot satisfies all the criteria set and is feasible for applications in disastrous rescuing scenarios.

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Design and implementation of Chang’E-3 rover location system

Cited by 6 publications

References 0 publications

Vision-Based Decision Support for Rover Path Planning in the Chang’e-4 Mission

Vision-Based Decision Support for Rover Path Planning in the Chang’e-4 Mission

Design and terrain adaptability analysis of a life detection robot for battlefield rescue missions

A Portable Six-Wheeled Mobile Robot With Reconfigurable Body and Self-Adaptable Obstacle-Climbing Mechanisms

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