Volume 9 Number 1 (Jan. 2014)
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JCP 2014 Vol.9(1): 126-133 ISSN: 1796-203X
doi: 10.4304/jcp.9.1.126-133

Vision Guided Modeling and Simulation for CAS Rover

Hongwei Gao, Yang Yu, Kun Hong
1School of Information Science and Engineering, University of Shenyang Ligong, Shenyang, 110159, P.R. China
2State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, P.R. China


Abstract—With the potential application of planetary exploration, the issues on vision-guided modeling and movement simulation technologies for the planetary rover of Chinese Academy of Sciences (CAS) are investigated. Based on stereo vision and the virtual reality, a simulation platform is developed. The system working in an off-line teaching way can be used to ensure the safety of the rover. Firstly, a detail description of the CAS rover mechanism structure and kinematics model is given. Secondly, the implementation process of simulation platform based on OpenGL has been introduced. Finally, movement simulation on synthesis terrain and real terrain got by stereo vision are executed, and the simulation results show the validity of the whole scheme, and the scheme has the availability for future exploration operation.

Index Terms—Planetary rover, Kinematics model, Stereo vision, Virtual reality

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Cite: Hongwei Gao, Yang Yu, Kun Hong, "Vision Guided Modeling and Simulation for CAS Rover," Journal of Computers vol. 9, no. 1, pp. 126-133, 2014.

General Information

ISSN: 1796-203X
Abbreviated Title: J.Comput.
Frequency: Bimonthly
Editor-in-Chief: Prof. Liansheng Tan
Executive Editor: Ms. Nina Lee
Abstracting/ Indexing: DBLP, EBSCO,  ProQuest, INSPEC, ULRICH's Periodicals Directory, WorldCat,etc
E-mail: jcp@iap.org
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