Path planning and evaluation for planetary rovers based on dynamic mobility index

Genya Ishigami, Keiji Nagatani, Kazuya Yoshida

Research output: Chapter in Book/Report/Conference proceedingConference contribution

30 Citations (Scopus)

Abstract

Planetary exploration rovers are required to (semi-) autonomously navigate itself on rough terrain. In such scenario, a feasible path to be followed must be accurately planned, allowing the rover to safely traverse without any mobility hazards. In this paper, a path planning and evaluation strategy that explicitly considers dynamic mobility of the rover is presented. The proposed strategy consists of the following three steps. First, various paths on a given terrain map are generated with varying weighting factors for path planning algorithm. Each path is then examined through complete dynamic simulations of the rover in which the rover travels along with the path. The simulation result provides a metric for robotic mobility. The metric, termed a dynamic mobility index, consists of stability of the rover, wheel slippage, elapsed time, and energy consumption. All of the paths generated are quantitatively evaluated based on the dynamic mobility index, and then, the most feasible path between them is obtained. Demonstrations for the path planning and evaluation are presented in this paper that confirms the validity of the proposed strategy.

Original languageEnglish
Title of host publicationIEEE International Conference on Intelligent Robots and Systems
Pages601-606
Number of pages6
DOIs
Publication statusPublished - 2011
Externally publishedYes
Event2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11 - San Francisco, CA, United States
Duration: 2011 Sep 252011 Sep 30

Other

Other2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11
CountryUnited States
CitySan Francisco, CA
Period11/9/2511/9/30

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ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

Cite this

Ishigami, G., Nagatani, K., & Yoshida, K. (2011). Path planning and evaluation for planetary rovers based on dynamic mobility index. In IEEE International Conference on Intelligent Robots and Systems (pp. 601-606). [6048429] https://doi.org/10.1109/IROS.2011.6048429