The optional obstacle avoidance method of Change’s 3—based on direction division

DOI

10.2991/isss-15.2015.63How to use a DOI?

Keywords

obstacle avoidance; root-mean-square deviation of slope; root-mean-square deviation of height; global optimization; part optimization.

Abstract

This paper studied the obstacle avoidance problem during the falling-to-moon stage of the Change’s 3. Thus the optimal control strategies were obtained for both the rough obstacle avoidance stage and the precise obstacle avoidance stage. Using “the optional obstacle avoidance method—based on direction division”, the paper introduced the root-mean-square deviation of slope (to measure the smooth degree) and root-mean-square deviation of height (to measure the height variation range). The aim is to do the global optimization in the rough obstacle avoidance stage and the part optimization in the precise obstacle avoidance stage. (1): The rough obstacle avoidance stage: Use four planes to segment the picture area taken in the high altitude 2400m to the earth, as shown in the Picture1. In the four planes we selected one point every 1 meter, then figure out the root-mean-square deviation of slope and the root-mean-square deviation of height, shown in the Table 1. Through this, we know plane 4 is the optimal rough obstacle avoidance plane, which is also verified by the Picture2 and Picture3. Then we figure out the root-mean-square deviation of slope and the root-mean-square deviation of height in a and b directions (see in Table2). The direction was chosen as the optional rough obstacle avoidance direction. (2): The precise obstacle avoidance stage: Use the same method of rough obstacle avoidance stage, but we selected a point every 0.5 meter to improve the search accuracy, narrow the search scope gradually, and finally find the most suitable landing area. The method can be seen in Picture5.

Copyright

© 2015, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Chenhao Zhang
PY  - 2015/08
DA  - 2015/08
TI  - The optional obstacle avoidance method of Change’s 3—based on direction division
BT  - Proceedings of the 1st International Symposium on Social Science (isss-15)
PB  - Atlantis Press
SP  - 256
EP  - 259
SN  - 2352-5398
UR  - https://doi.org/10.2991/isss-15.2015.63
DO  - 10.2991/isss-15.2015.63
ID  - Zhang2015/08
ER  -