Zoekresultaten - Dianwei Cong

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  1. 1
    Path Planning for Lunar Rovers in Dynamic Environments: An Autonomous Navigation Framework Enhanced by Digital Twin-Based A*-D3QN

    Path Planning for Lunar Rovers in Dynamic Environments: An Autonomous Navigation Framework Enhanced by Digital Twin-Based A*-D3QN door Wei Liu, Gang Wan, Jia Liu, Dianwei Cong

    Gepubliceerd in 2025-06-01

    In lunar exploration missions, rovers must navigate multiple waypoints within strict time constraints while avoiding dynamic obstacles, demanding real-time, collision-free path planning. This paper proposes a digital twin-enhanced hierarchical planning method, A*-D3QN-Opt (A-Star-Dueling Double Deep...

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  2. 2
    ORB-SLAM2 System Enhanced With SiaT-Hough Module on Mars Digital Twin Platform: For Rock Counting and 3D Reconstruction in Martian Environments

    ORB-SLAM2 System Enhanced With SiaT-Hough Module on Mars Digital Twin Platform: For Rock Counting and 3D Reconstruction in Martian Environments door Wei Liu, Gang Wan, Jia Liu, Dianwei Cong

    Gepubliceerd in 2025-01-01

    This paper proposes a digital twin platform for Mars environment based on NVIDIA Isaac Sim to create a unique random environment with multi-scale fine-grained terrain features through programmed terrain generation and asset management. The SiaT-Hough module was added to the ORB-SLAM2 system for Mars...

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