Research/ PLANETARY ROBOTICS
Motion planning for mechanical of lunar rover to surveying
Liangping Zhang, Hehua Ju
Motion Planning & NavigationOpenAlex topic: Robotic Path Planning Algorithms · Perception & State EstimationOpenAlex topic: Robotics and Sensor-Based Localization · Learning-based MethodsOpenAlex topic: Reinforcement Learning in Robotics
This paper improved the planning for mechanical at 3-DOF lunar rover in two aspect. First, motion planning by SA* heuristic algorithm, which minimize the change of configuration, enhance the security and efficiency of the surveying for mechanical of lunar rover in-site. Second, we in delaunay triangulation the environmental point cloud in collision detection, which interpret the problem of collision detection to position relationship between line and plane.