Supplementary materials for "Zhurong Mars Rover: Recorded Motion Analysis and Future Multimode Autonomous Cruise Enhancement"

This repo contains

• Multimode decision block of the multimode-based control system

  • Elevation Mapping, to obtain the elevation of the terrain

  • Connected Component Labeling, to mark the obstacles on the terrain

  • Convolution Operator, to extract geometric features of the obstacle surface

  • Fitting Plane, to compare the desired motion plane of the wheel with the upper surface of the obstacle

  • Grey Relation Analysis and Fuzzy Logic, to evaluate the safety of the rover’s motion while moving on the obstacle

Dependencies

• elevation_mapping (https://github.com/ANYbotics/elevation_mapping)

• grid_map (https://github.com/ANYbotics/grid_map)

• kindr (https://github.com/ANYbotics/kindr)

• kindr_ros (https://github.com/ANYbotics/kindr_ros)

Note

• This repo does not contain path planning or motion execution. Therefore, it is only for demonstrating algorithm logic and cannot be directly applied to real machines.