Research on virtual scene simulation for planetary rover
The virtual simulation environment for planetary rover includes two parts: the solution of its kinematics model and the virtual simulation environment. This paper describes kinematics model of the rover consisted of wheels using a rocker-bogie design. The model is established with the D-H parameter...
Gespeichert in:
| Hauptverfasser: | , , , , |
|---|---|
| Format: | Tagungsbericht |
| Sprache: | eng |
| Schlagworte: | |
| Online-Zugang: | Volltext bestellen |
| Tags: |
Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
|
| container_end_page | 689 |
|---|---|
| container_issue | |
| container_start_page | 685 |
| container_title | |
| container_volume | |
| creator | Ning Mao Bo Su Qichang Yao Shuling Yang Hongji Xu |
| description | The virtual simulation environment for planetary rover includes two parts: the solution of its kinematics model and the virtual simulation environment. This paper describes kinematics model of the rover consisted of wheels using a rocker-bogie design. The model is established with the D-H parameter method. The kinematics equations of rover moving on uneven terrain are deduced with different kinematics and homogeneous transformation matrix. For the analyses of the planetary rover kinematics model in the virtual simulation scene, the necessary joint angles and some attitude angles can be got by solving nonlinear optimization equations of the established rover-terrain model. Finally, the accuracy of rover kinematics model and rover-terrain model is verified in the virtual environment which is created by VC/OpenGVS. The planetary rover kinematics simulation in the virtual scene is realized. |
| doi_str_mv | 10.1109/ICINFA.2011.5949081 |
| format | Conference Proceeding |
| fullrecord | <record><control><sourceid>ieee_6IE</sourceid><recordid>TN_cdi_ieee_primary_5949081</recordid><sourceformat>XML</sourceformat><sourcesystem>PC</sourcesystem><ieee_id>5949081</ieee_id><sourcerecordid>5949081</sourcerecordid><originalsourceid>FETCH-LOGICAL-i90t-618cf6899cf62b9fca319d97637808c14e6a9d99c595681b83801e2dc347db8b3</originalsourceid><addsrcrecordid>eNpVT8FqwzAU8xiDjS5f0Et-IJlfnNjvHUtYt0DpYPReHOeFeaRJsdPC_n6B9TIdJIRASEKsQeYAkl6autlvN3khAfKKSpIIdyIhg1BWxshCk7r_51E_iiTGb7lAaypK-STwkyPb4L7SaUyvPswXO6TR8chp9KfLYGe_BP0U0vNgR55t-EnDdOXwLB56O0RObroSh-3roX7Pdh9vTb3ZZZ7knGlA12skWrhoqXdWAXVktDIo0UHJ2i6eXEWVRmhRoQQuOqdK07XYqpVY_9V6Zj6egz8tC463u-oXMl9IeQ</addsrcrecordid><sourcetype>Publisher</sourcetype><iscdi>true</iscdi><recordtype>conference_proceeding</recordtype></control><display><type>conference_proceeding</type><title>Research on virtual scene simulation for planetary rover</title><source>IEEE Electronic Library (IEL) Conference Proceedings</source><creator>Ning Mao ; Bo Su ; Qichang Yao ; Shuling Yang ; Hongji Xu</creator><creatorcontrib>Ning Mao ; Bo Su ; Qichang Yao ; Shuling Yang ; Hongji Xu</creatorcontrib><description>The virtual simulation environment for planetary rover includes two parts: the solution of its kinematics model and the virtual simulation environment. This paper describes kinematics model of the rover consisted of wheels using a rocker-bogie design. The model is established with the D-H parameter method. The kinematics equations of rover moving on uneven terrain are deduced with different kinematics and homogeneous transformation matrix. For the analyses of the planetary rover kinematics model in the virtual simulation scene, the necessary joint angles and some attitude angles can be got by solving nonlinear optimization equations of the established rover-terrain model. Finally, the accuracy of rover kinematics model and rover-terrain model is verified in the virtual environment which is created by VC/OpenGVS. The planetary rover kinematics simulation in the virtual scene is realized.</description><identifier>ISBN: 9781457702686</identifier><identifier>ISBN: 1457702681</identifier><identifier>EISBN: 9781457702693</identifier><identifier>EISBN: 9781457702709</identifier><identifier>EISBN: 145770269X</identifier><identifier>EISBN: 1457702703</identifier><identifier>DOI: 10.1109/ICINFA.2011.5949081</identifier><language>eng</language><publisher>IEEE</publisher><subject>Equations ; Joints ; Kinematics ; Kinematics model ; Mathematical model ; Rover-terrain model ; Solid modeling ; VC/OpenGVS ; Vehicle dynamics ; Virtual scene ; Wheels</subject><ispartof>2011 IEEE International Conference on Information and Automation, 2011, p.685-689</ispartof><woscitedreferencessubscribed>false</woscitedreferencessubscribed></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://ieeexplore.ieee.org/document/5949081$$EHTML$$P50$$Gieee$$H</linktohtml><link.rule.ids>309,310,780,784,789,790,2056,27924,54919</link.rule.ids><linktorsrc>$$Uhttps://ieeexplore.ieee.org/document/5949081$$EView_record_in_IEEE$$FView_record_in_$$GIEEE</linktorsrc></links><search><creatorcontrib>Ning Mao</creatorcontrib><creatorcontrib>Bo Su</creatorcontrib><creatorcontrib>Qichang Yao</creatorcontrib><creatorcontrib>Shuling Yang</creatorcontrib><creatorcontrib>Hongji Xu</creatorcontrib><title>Research on virtual scene simulation for planetary rover</title><title>2011 IEEE International Conference on Information and Automation</title><addtitle>ICINFA</addtitle><description>The virtual simulation environment for planetary rover includes two parts: the solution of its kinematics model and the virtual simulation environment. This paper describes kinematics model of the rover consisted of wheels using a rocker-bogie design. The model is established with the D-H parameter method. The kinematics equations of rover moving on uneven terrain are deduced with different kinematics and homogeneous transformation matrix. For the analyses of the planetary rover kinematics model in the virtual simulation scene, the necessary joint angles and some attitude angles can be got by solving nonlinear optimization equations of the established rover-terrain model. Finally, the accuracy of rover kinematics model and rover-terrain model is verified in the virtual environment which is created by VC/OpenGVS. The planetary rover kinematics simulation in the virtual scene is realized.</description><subject>Equations</subject><subject>Joints</subject><subject>Kinematics</subject><subject>Kinematics model</subject><subject>Mathematical model</subject><subject>Rover-terrain model</subject><subject>Solid modeling</subject><subject>VC/OpenGVS</subject><subject>Vehicle dynamics</subject><subject>Virtual scene</subject><subject>Wheels</subject><isbn>9781457702686</isbn><isbn>1457702681</isbn><isbn>9781457702693</isbn><isbn>9781457702709</isbn><isbn>145770269X</isbn><isbn>1457702703</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>2011</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><sourceid>RIE</sourceid><recordid>eNpVT8FqwzAU8xiDjS5f0Et-IJlfnNjvHUtYt0DpYPReHOeFeaRJsdPC_n6B9TIdJIRASEKsQeYAkl6autlvN3khAfKKSpIIdyIhg1BWxshCk7r_51E_iiTGb7lAaypK-STwkyPb4L7SaUyvPswXO6TR8chp9KfLYGe_BP0U0vNgR55t-EnDdOXwLB56O0RObroSh-3roX7Pdh9vTb3ZZZ7knGlA12skWrhoqXdWAXVktDIo0UHJ2i6eXEWVRmhRoQQuOqdK07XYqpVY_9V6Zj6egz8tC463u-oXMl9IeQ</recordid><startdate>201106</startdate><enddate>201106</enddate><creator>Ning Mao</creator><creator>Bo Su</creator><creator>Qichang Yao</creator><creator>Shuling Yang</creator><creator>Hongji Xu</creator><general>IEEE</general><scope>6IE</scope><scope>6IL</scope><scope>CBEJK</scope><scope>RIE</scope><scope>RIL</scope></search><sort><creationdate>201106</creationdate><title>Research on virtual scene simulation for planetary rover</title><author>Ning Mao ; Bo Su ; Qichang Yao ; Shuling Yang ; Hongji Xu</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-i90t-618cf6899cf62b9fca319d97637808c14e6a9d99c595681b83801e2dc347db8b3</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>2011</creationdate><topic>Equations</topic><topic>Joints</topic><topic>Kinematics</topic><topic>Kinematics model</topic><topic>Mathematical model</topic><topic>Rover-terrain model</topic><topic>Solid modeling</topic><topic>VC/OpenGVS</topic><topic>Vehicle dynamics</topic><topic>Virtual scene</topic><topic>Wheels</topic><toplevel>online_resources</toplevel><creatorcontrib>Ning Mao</creatorcontrib><creatorcontrib>Bo Su</creatorcontrib><creatorcontrib>Qichang Yao</creatorcontrib><creatorcontrib>Shuling Yang</creatorcontrib><creatorcontrib>Hongji Xu</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan All Online (POP All Online) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE Electronic Library (IEL)</collection><collection>IEEE Proceedings Order Plans (POP All) 1998-Present</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Ning Mao</au><au>Bo Su</au><au>Qichang Yao</au><au>Shuling Yang</au><au>Hongji Xu</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>Research on virtual scene simulation for planetary rover</atitle><btitle>2011 IEEE International Conference on Information and Automation</btitle><stitle>ICINFA</stitle><date>2011-06</date><risdate>2011</risdate><spage>685</spage><epage>689</epage><pages>685-689</pages><isbn>9781457702686</isbn><isbn>1457702681</isbn><eisbn>9781457702693</eisbn><eisbn>9781457702709</eisbn><eisbn>145770269X</eisbn><eisbn>1457702703</eisbn><abstract>The virtual simulation environment for planetary rover includes two parts: the solution of its kinematics model and the virtual simulation environment. This paper describes kinematics model of the rover consisted of wheels using a rocker-bogie design. The model is established with the D-H parameter method. The kinematics equations of rover moving on uneven terrain are deduced with different kinematics and homogeneous transformation matrix. For the analyses of the planetary rover kinematics model in the virtual simulation scene, the necessary joint angles and some attitude angles can be got by solving nonlinear optimization equations of the established rover-terrain model. Finally, the accuracy of rover kinematics model and rover-terrain model is verified in the virtual environment which is created by VC/OpenGVS. The planetary rover kinematics simulation in the virtual scene is realized.</abstract><pub>IEEE</pub><doi>10.1109/ICINFA.2011.5949081</doi><tpages>5</tpages></addata></record> |
| fulltext | fulltext_linktorsrc |
| identifier | ISBN: 9781457702686 |
| ispartof | 2011 IEEE International Conference on Information and Automation, 2011, p.685-689 |
| issn | |
| language | eng |
| recordid | cdi_ieee_primary_5949081 |
| source | IEEE Electronic Library (IEL) Conference Proceedings |
| subjects | Equations Joints Kinematics Kinematics model Mathematical model Rover-terrain model Solid modeling VC/OpenGVS Vehicle dynamics Virtual scene Wheels |
| title | Research on virtual scene simulation for planetary rover |
| url | https://sfx.bib-bvb.de/sfx_tum?ctx_ver=Z39.88-2004&ctx_enc=info:ofi/enc:UTF-8&ctx_tim=2025-01-11T23%3A09%3A05IST&url_ver=Z39.88-2004&url_ctx_fmt=infofi/fmt:kev:mtx:ctx&rfr_id=info:sid/primo.exlibrisgroup.com:primo3-Article-ieee_6IE&rft_val_fmt=info:ofi/fmt:kev:mtx:book&rft.genre=proceeding&rft.atitle=Research%20on%20virtual%20scene%20simulation%20for%20planetary%20rover&rft.btitle=2011%20IEEE%20International%20Conference%20on%20Information%20and%20Automation&rft.au=Ning%20Mao&rft.date=2011-06&rft.spage=685&rft.epage=689&rft.pages=685-689&rft.isbn=9781457702686&rft.isbn_list=1457702681&rft_id=info:doi/10.1109/ICINFA.2011.5949081&rft_dat=%3Cieee_6IE%3E5949081%3C/ieee_6IE%3E%3Curl%3E%3C/url%3E&rft.eisbn=9781457702693&rft.eisbn_list=9781457702709&rft.eisbn_list=145770269X&rft.eisbn_list=1457702703&disable_directlink=true&sfx.directlink=off&sfx.report_link=0&rft_id=info:oai/&rft_id=info:pmid/&rft_ieee_id=5949081&rfr_iscdi=true |