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In this paper, we present an improved RRT-based motion planner for autonomous vehicles to effectively navigate in cluttered environments with narrow passages. The planner first presents X-test that can identify passable narrow passages, and then perform an efficient obstacles-based extension operation within passable narrow passages. In order to generate a smooth trajectory for the vehicle to execute,...
In engineering applications, the material strength and stiffness have a great influence on the accuracy of one antenna box structure, and temperature is another influence factor. In this paper, taking one antenna box structure for example, considering the temperature compensation of the structure, a micro-displacement measurement system was built to realize the micro-displacement measurement of the...
Taking a new type of lunar rover which is based on a double-half-revolution mechanism as the research object, based on the force analysis between the wheel-leg and lunar soil, its obstacle-climbing force model on lunar soil was established. As the obstacle-climbing model of uneven terrain was relatively complicated and the numbers of independent equation were less than those of unknown variables,...
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