Affiliations: School of Automotive Engineering, Faculty of Vehicle Engineering and Mechanics, State Key Laboratory of Structural Analysis for Industrial Equipment, Dalian University of Technology, Dalian, P.R. China | Xinjiang Technical Institute of Physics & Chemistry, Chinese Academy of Science, Xinjiang, P.R. China
Note: [] Corresponding author. Jing Lian, School of Automotive Engineering, Dalian University of Technology, Dalian 116024, P.R. China. Tel.: +86 15524706097; Fax: +86 41184706475; E-mail: lianjing80@126.com
Abstract: In this paper, an obstacle avoidance path-planning algorithm and a path-following controller are developed for a lunar rover in simulated 3-D lunar terrains. Firstly, traversability analysis of the lunar surface is studied based on the weighted least squares method and fuzzy computing. Secondly, a polar coordinates histogram is built around the rover to measure the traversability to enable selection of the optimal driving direction. Thirdly, a longitudinal traction coordinating controller based on sliding mode theory and a latitudinal trajectory tracking controller based on optimal theory are proposed to follow the desired path. Finally, a six-wheel lunar rover with Rocker Bogie model is established in ADAMS software, and co-simulation between ADAMS and MATLAB/Simulink are carried out to verify the effectiveness of the proposed algorithm.
Keywords: Lunar rover, path-planning, fuzzy computing, path-following control
