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所属单位：航天学院

发表刊物：Proc. Inst. Mech. Eng. Part G J. Aerosp. Eng.

摘要：This paper presents an active motion planning approach for a robotic manipulator operating in planetary surface exploration missions. A monocular camera is employed to examine the visually salient regions in an image, from which landforms of potential interests are extracted, and two key metrics are established to evaluate the information richness of the landforms. A next-best view manipulator motion planning is proposed, in which motions of the manipulator are actively planned to reach a better viewpoint to view the target landform, the safety of such operation is guaranteed by real-time estimating the relative distance using ORriented Brief (ORB)–simultaneous localization and mapping. The proposed active motion planning method is validated by an experimental trial, results from which demonstrate that it is able to safely acquire a better viewing of a just-detected planetary landform with full autonomy. © IMechE 2019.

ISSN号：0954-4100

是否译文：否

发表时间：2019-10-01

合写作者：Leng, Shu,Hu, Haochen,居鹤华

通讯作者：余萌