3D DEM analysis on tractive trafficability of a lunar rover wheel with bionic wheel lugs

2021 ◽  
Author(s):  
Hao Pang ◽  
Rui Zhang ◽  
Ping Ge ◽  
Fang Liu ◽  
Chengjin Wang ◽  
...  
Keyword(s):  
ROBOT ◽  
2010 ◽  
Vol 32 (1) ◽  
pp. 70-76 ◽  
Author(s):  
Zhen JIAO ◽  
Haibo GAO ◽  
Zongquan DENG ◽  
Liang DING

2020 ◽  
Vol 12 (17) ◽  
pp. 2809
Author(s):  
Meirman Syzdykbayev ◽  
Bobak Karimi ◽  
Hassan A. Karimi

Detection of terrain features (ridges, spurs, cliffs, and peaks) is a basic research topic in digital elevation model (DEM) analysis and is essential for learning about factors that influence terrain surfaces, such as geologic structures and geomorphologic processes. Detection of terrain features based on general geomorphometry is challenging and has a high degree of uncertainty, mostly due to a variety of controlling factors on surface evolution in different regions. Currently, there are different computational techniques for obtaining detailed information about terrain features using DEM analysis. One of the most common techniques is numerically identifying or classifying terrain elements where regional topologies of the land surface are constructed by using DEMs or by combining derivatives of DEM. The main drawbacks of these techniques are that they cannot differentiate between ridges, spurs, and cliffs, or result in a high degree of false positives when detecting spur lines. In this paper, we propose a new method for automatically detecting terrain features such as ridges, spurs, cliffs, and peaks, using shaded relief by controlling altitude and azimuth of illumination sources on both smooth and rough surfaces. In our proposed method, we use edge detection filters based on azimuth angle on shaded relief to identify specific terrain features. Results show that the proposed method performs similar to or in some cases better (when detecting spurs than current terrain features detection methods, such as geomorphon, curvature, and probabilistic methods.


SIMULATION ◽  
1993 ◽  
Vol 61 (1) ◽  
pp. 60-68
Author(s):  
Niranjan S. Rao ◽  
Matthew H. Appleby
Keyword(s):  

Sensors ◽  
2021 ◽  
Vol 21 (3) ◽  
pp. 796
Author(s):  
Xiaoqiang Yu ◽  
Ping Wang ◽  
Zexu Zhang

Path planning is an essential technology for lunar rover to achieve safe and efficient autonomous exploration mission, this paper proposes a learning-based end-to-end path planning algorithm for lunar rovers with safety constraints. Firstly, a training environment integrating real lunar surface terrain data was built using the Gazebo simulation environment and a lunar rover simulator was created in it to simulate the real lunar surface environment and the lunar rover system. Then an end-to-end path planning algorithm based on deep reinforcement learning method is designed, including state space, action space, network structure, reward function considering slip behavior, and training method based on proximal policy optimization. In addition, to improve the generalization ability to different lunar surface topography and different scale environments, a variety of training scenarios were set up to train the network model using the idea of curriculum learning. The simulation results show that the proposed planning algorithm can successfully achieve the end-to-end path planning of the lunar rover, and the path generated by the proposed algorithm has a higher safety guarantee compared with the classical path planning algorithm.


Author(s):  
Behrad Esgandari ◽  
Shahab Golshan ◽  
Reza Zarghami ◽  
Rahmat Sotudeh‐Gharebagh ◽  
Jamal Chaouki

Author(s):  
Perry Edmundson ◽  
Peter Visscher ◽  
Josh Newman ◽  
Joseph O’Connell ◽  
Martin Picard

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