Energy-aware trajectory planning for planetary rovers

G. Sakayori, G. Ishigami

Research output: Contribution to journalArticlepeer-review

Abstract

Planetary rovers are becoming indispensable for exploration activities and science missions. The rover used in such mission is often limited in its operation time owing to power and computational resources of the rover. In this paper, a trajectory planning method for a planetary rover is proposed that considers vehicle dynamics, and energy management of the rover. The vehicle dynamics is approximated from a dynamic simulation of the rover, which can estimate the power consumption in accordance with terrain traversability of the rover. The power generation of the solar array panel mounted on the rover is also taken into account. The simulation study confirmed the usefulness of the proposed method, especially in scenarios where slopes could be observed, and one result indicated that the energy margin could be improved by 4.1 kJ, 13.9 (Formula presented.) at maximum.

Original languageEnglish
JournalAdvanced Robotics
DOIs
Publication statusAccepted/In press - 2021

Keywords

  • Energy-aware
  • Mobile robot
  • Space robotics
  • Terramechanics
  • Trajectory planning

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Human-Computer Interaction
  • Hardware and Architecture
  • Computer Science Applications

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