수치표고모델(DEM) 환경에서의 Fast Marching Method(FMM) /폐루프 제어기법 기반 달 탐사로버의 경로계획 및 추종 (Path Planning and Following based on the Fast Marching Method(FMM)/Feedback Control for Lunar Exploration Rover on Digital Elevation Model(DEM))

서지정보

· 발행기관 : 제어·로봇·시스템학회
· 수록지 정보 : 제어.로봇.시스템학회 논문지 / 25권 / 12호 / 1109 ~ 1115페이지
· 저자명 : 김건중, Giancarlo Eder Guerra Padilla, 심병섭, 유기호

초록

When a lunar exploration rover is running on the surface of the Moon on a scientific mission, the integration of varioustechnologies including the navigation and control strategy considering the slippage and geometric singularity is required to enable theexploration rover to traverse while avoiding hazardous areas and following predefined path. Up to this point, this paper proposed a pathplanning/following algorithm to efficiently navigate the lunar exploration rover and track the predefined path. We first create a DigitalElevation Model (DEM) as infrastructure in simulation environment map based on the diamond-square midpoint displacement algorithm,and then generates the optimal path on the grid map using fast marching method (FMM). In order to let the exploration rover to track thegenerated path, the path tracking algorithm considering the slippage and geometric singularities based feedback control is also proposed.
Using the wheel-terrain interaction model, the multi-body dynamics simulation induced longitudinal/lateral dynamics on the DEM mapwas carried out to verify the performance of the proposed algorithm. Finally, numerical analysis is presented to demonstrate theeffectiveness of proposed path planning and path following controller.

영어초록

When a lunar exploration rover is running on the surface of the Moon on a scientific mission, the integration of varioustechnologies including the navigation and control strategy considering the slippage and geometric singularity is required to enable theexploration rover to traverse while avoiding hazardous areas and following predefined path. Up to this point, this paper proposed a pathplanning/following algorithm to efficiently navigate the lunar exploration rover and track the predefined path. We first create a DigitalElevation Model (DEM) as infrastructure in simulation environment map based on the diamond-square midpoint displacement algorithm,and then generates the optimal path on the grid map using fast marching method (FMM). In order to let the exploration rover to track thegenerated path, the path tracking algorithm considering the slippage and geometric singularities based feedback control is also proposed.
Using the wheel-terrain interaction model, the multi-body dynamics simulation induced longitudinal/lateral dynamics on the DEM mapwas carried out to verify the performance of the proposed algorithm. Finally, numerical analysis is presented to demonstrate theeffectiveness of proposed path planning and path following controller.

참고자료

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