Path Planning Algorithm for Lunar Rover Based on Stereo Vision
Baichao Chen · Jisuanji gongcheng · 2008
To realize obstacle avoidance path planning for lunar rover,stereo vision technology is applied to precept front environments,and a feature-based obstacle detection method is designed.Histogram-Bug algorithm is presented to realize obstacle avoidance path planning.The world model is described using a polar coordinates histogram.Global convergence is ensured by motion-to-goal behavior and boundary following behavior working together.3-D reconstruction technologies and simulations confirm the effectiveness of the method.