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主要提出了一种在虚拟环境下基于复合视觉的月球车导航技术,将单、双目视觉二者结合应用,取长补短。其中单目视觉作为一种宏观路径规划完成对于形状规则的月坑的识别与定位;应用双目视觉作细观路径规划,在一定距离内完成对于特征复杂的石块的判断与定位。同时,提出了一种考虑月球车运动学动力学特性的路径规划,在能够达到避障要求的基础上缩短其行驶距离,并将其作为视觉导航模块融入月球车虚拟仿真系统中。
Mainly put forward a lunar rover navigation technology based on composite vision in the virtual environment, which combines the two technologies of monocular and binocular vision. Among them, monocular vision can be used as a macroscopic path planning to identify and position the lunar pit with regular shape. Binocular vision can be used for meso-path planning to determine and locate the complicated rocks within a certain distance. At the same time, a path planning considering the dynamics of lunar rover kinematics is proposed, which can shorten the driving distance on the basis of the obstacle avoidance requirement and integrate it into the lunar rover virtual simulation system as a visual navigation module.