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Geospatial technologies for Chang’e-3 and Chang’e-4 lunar rover missions

Geo-Spatial Information Science 2020年第1期23卷 87-97页

作者： Kaichang Di Zhaoqin Liu Wenhui Wan Man Peng Bin Liu Yexin Wang Sheng Gou Zongyu Yue State Key Laboratory of Remote Sensing Science Institute of Remote Sensing and Digital EarthChinese Academy of SciencesBeijingChina

This paper presents a brief overview of the geospatial technologies developed and applied in Chang’e-3 and Chang’e-4 lunar rover missions.Photogrammetric mapping techniques were used to produce topographic products of the landing site with meter level resolution using orbital images before landing,and to produce centimeter-resolution topographic products in near real-time after landing.Visual positioning techniques were used to determine the locations of the two landers using descent images and orbital basemaps immediately after landing.During surface operations,visual-positioning-based rover localization was performed routinely at each waypoint using Navcam images.The topographic analysis and rover localization results directly supported waypoint-to-waypoint path planning,science target selection and scientific investigations.A GIS-based digital cartography system was also developed to support rover teleoperation.

关键词： Geospatial technology lunar rover landing site mapping topographic analysis rover localization and navigation

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Mechanical Analysis and Performance Optimization for the lunar rover’s Vane-Telescopic Walking Wheel

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Engineering 2020年第8期6卷 936-943页

作者： Lu Yang Bowen Cai Ronghui Zhang Kening Li Zixian Zhang Jiehao Lei Baichao Chen Rongben Wang Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical EngineeringTianjin University of TechnologyTianjin 300384China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of TechnologyTianjin 300384China Guangdong Key Laboratory of Intelligent Transportation System School of Intelligent Systems EngineeringSun Yat-sen UniversityGuangzhou 510275China College of Transportation Jilin UniversityChangchun 130025China Department of Mechanical Science and Engineering Tokyo Institute of TechnologyTokyo 152-8550Japan Armour College of Engineering Illinois Institute of TechnologyChicagoIL 60616USA China Academy of Space Technology Beijing 100029China

It is well-known that optimizing the wheel system of lunar rovers is essential.However,this is a difficult task due to the complex terrain of the moon and limited resources onboard lunar rovers.In this study,an experimental prototype was set up to analyze the existing mechanical design of a lunar rover and improve its performance.First,a new vane-telescopic walking wheel was proposed for the lunar rover with a positive and negative quadrangle suspension,considering the complex terrain of the moon.Next,the performance was optimized under the limitations of preserving the slope passage and minimizing power consumption.This was achieved via analysis of the wheel force during movement.Finally,the effectiveness of the proposed method was demonstrated by several simulation experiments.The newly designed wheel can protrude on demand and reduce energy consumption;it can be used as a reference for lunar rover development engineering in China.

关键词： Intelligent vehicle Vane-telescopic walking wheel Performance optimization Vane spring lunar rover

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A Survey on Torque Distribution of Rocker-bogied lunar rover Wheel

A Survey on Torque Distribution of Rocker-bogied Lunar Rover...

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2012 International Conference on Electrical and Computer Engineering(ICECE2012)

作者： Ma Ke Miao Zhiquan Zhang Bo Department of Electronics and Information North China Institute of Science and Technology Yanjiao Beijing-east

To rocker bogied lunar rover,the thesis analyses static model and brings up two methods to estimate the torque distribution.The simulation experiments support the fact that the torque distribution method based on neur... 详细信息

关键词： lunar rover Static Model Torque Distribution

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The Design and Kinematic Analysis of a Rocker-Bogie lunar rover

The Design and Kinematic Analysis of a Rocker-Bogie Lunar Ro...

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2005国际机械工程与力学会议

作者： Ming HU Bin GUO Zongquan DENG School of Material Science and Engineering Harbin Institute of Technology

To minimize the cost of lunar exploration, lunar rovers which have high mobility and can transport scientific equipment are ideal and thus are important assets for future scientific exploration of lunar surfaces. The lunar environment is difficult to traverse and is challenging for future rovers. It is important for an exploration rover not to become trapped or get hung up during its mission. To design and control these rovers, kinematic analytical models of how they interact with their environments are essential. The purpose of this research is to develop a kinematic model of a rocker-bogie rover. This paper presents the rocker-bogie rover structure design and kinematic characteristics. Different reference frames have been defined and the kinematics model has been developed. The kinematic parameters acquired in the analysis will provide the basis to development of the rover force analysis.

关键词： lunar rover structure design kinematic analysis kinematic model

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Angular Velocity Current Statistical Model based Real-time Celestial Navigation for lunar rover

Angular Velocity Current Statistical Model based Real-time C...

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第三十届中国控制会议

作者： YANG Peng~(1,2),XIE Li~(1,2),LIU Jilin~(1,2) 1.Department of information Science and Electronic Engineering,Zhejiang University,Hangzhou 310027,P.R.China 2.Zhejiang Provincial Key Laboratory of Information Network Technology,Hangzhou 310027,P.R.China

＜正＞The long-time,long-range autonomous navigation system is one of the key technologies which assist lunar rover to finish scientific exploration missions.A novel real-time celestial navigation（RCN） method is proposed to solve this problem, which is based on celestial observation and output of angular rate gyroscope.In this paper,the star’s direction vector from star sensor is treated as observation for system measurement equation;kinematics model is established using this angular velocity current statistical model（ACSM） for the rover,and its attitude quaternion differential equation is treated as system state equation. Finally,the extended Kalman filter（EKF） gives the solutions of rover’s position,heading and attitude.Simulation results show that this method could obtain higher celestial navigation accuracy in real-time.

关键词： ACSM Real-time Quaternion Attitude Estimation lunar rover Celestial Navigation

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Path Planning for lunar rover Based on Bi-RRT Algorithm

Path Planning for Lunar Rover Based on Bi-RRT Algorithm

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第40届中国控制会议

作者： Yiming Wang Qiufan Yuan Yanning Guo Weidi Han Department of Control Science and Engineering Harbin Institute of Technology Aerospace System Engineering Shanghai

A new method based on the Bi-RRT（Bidirectional Rapidly exploring Random Tree） algorithm,APF（Artificial Potential Field） algorithm,and DOM（Digital Orthophoto Map） is presented in this paper to solve the lunar rover path planning problem.First,we use DOM to build an occupancy grid map through an image processing algorithm.Then we build a repulsive potential field based on the obstacle and an attractive potential field based on the target.We then designed an improved Bi-RRT algorithm based on a novel potential field guidance growth method and a goal bias sampling method.Finally,a simulation was carried out on the lunar DOM to verify the efficiency and safety of the proposed Bi-RRT-APF algorithm.The results show that the searching efficiency of the Bi-RRT-APF algorithm is increased by twice compared with the Bi-RRT algorithm and is increased by four times compared with the RRT-APF algorithm.The safe coefficient of the Bi-RRT-APF algorithm is increased by 42.7% compared with the Bi-RRT algorithm.

关键词： Path Planning lunar rover Bi-RRT APF DOM

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Virtual Simulation System with Path-following Control for lunar rovers Moving on Rough Terrain

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Chinese Journal of Mechanical Engineering 2012年第1期25卷 38-46页

作者： GAO Haibo DENG Zongquan DING Liang WANG Mengyu State Key Laboratory of Robotics and Systems Harbin Institute of TechnologyHarbin 150001China School of Mechatronics Harbin Institute of TechnologyHarbin 150001China

Virtual simulation technology is of great importance for the teleoperation of lunar rovers during the exploration phase, as well as the design of locomotion systems, performance evaluation, and control strategy verification during the R&D phase. The currently used simulation methods for lunar rovers have several disadvantages such as poor fidelity for wheel-soil interaction mechanics, difficulty in simulating rough terrains, and high complexity making it difficult to realize mobility control in simulation systems. This paper presents an approach for the construction of a virtual simulation system that integrates the features of 3D modeling, wheel-soil interaction mechanics, dynamics analysis, mobility control, and visualization for lunar rovers. Wheel-soil interaction experiments are carried out to test the forces and moments acted on a lunar rover’s wheel by the soil with a vertical load of 80 N and slip ratios of 0, 0.03, 0.05, 0.1, 0.2, 0.3, 0.4, and 0.6. The experimental results are referenced in order to set the parameters’ values for the PAC2002 tire model of the ADAMS/Tire module. In addition, the rough lunar terrain is simulated with 3DS Max software after analyzing its characteristics, and a data-transfer program is developed with Matlab to simulate the 3D reappearance of a lunar environment in ADAMS. The 3D model of a lunar rover is developed by using Pro/E software and is then imported into ADAMS. Finally, a virtual simulation system for lunar rovers is developed. A path-following control strategy based on slip compensation for a six-wheeled lunar rover prototype is researched. The controller is implemented by using Matlab/Simulink to carry out joint simulations with ADAMS. The designed virtual lunar rover could follow the planned path on a rough terrain. This paper can also provide a reference scheme for virtual simulation and performance analysis of rovers moving on rough lunar terrains.

关键词： lunar rover comprehensive simulation system rough terrain wheel-soil interaction mechanics path-following control

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A SIX WHEELED ROBOT WITH ACTIVE SELF-ADAPTIVE SUSPENSION FOR lunar EXPLORATION

A SIX WHEELED ROBOT WITH ACTIVE SELF-ADAPTIVE SUSPENSION FOR...

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2006年中国机械工程学会年会暨中国工程院机械与运载工...

作者： SHANG Jianzhong, LUO Zirong, FAN Dapeng, Zhao Feng College of Mechatronics Engineering and Automation, National Univ. of Defense Technology, Changsha 410073, China

With the idea of merging the active robot’s configuration function and the self-adaptive robot’s self-adaptive characteristic, a new kind of active self-adaptive suspension and a new type of different

关键词： lunar rover mobility virtual prototype ADAMS.

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