Traversability-based Lunar Rover Autonomous Navigation in Three-Dimensional Terrain
Yangzhou Chen · Jisuanji fangzhen · 2007
A new method was proposed based on the traversability of obstacle classification aiming at the lunar rover’s autonomous navigation in three-dimensional terrain.Through the analysis to the terrain and obstacle’s geometry characteristic,the obstacle classification map and mean slope map were obtained.The traversability index was calculated as the rover's 3D path planning cost function.By the behavior control method,the rover navigates autonomously.The simulation results show that the method is efficient and feasible.