Path planning and navigation framework for a planetary exploration rover using a laser range finder

Genya Ishigami, Masatsugu Otsuki, Takashi Kubota

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

2 Citations (Scopus)

Abstract

This chapter presents a path planning and navigation framework for a planetary exploration rover and its experimental tests at a Lunar/Martian analog site. The framework developed in this work employs a laser range finder (LRF) for terrain feature mapping. The path planning algorithm generates a feasible path based on a cost function consisting of terrain inclination, terrain roughness, and path length. A set of navigation commands for the rover is then computed from the generated path. The rover executes those navigation commands to reach a desired goal. In this paper, a terrain mapping technique that uses a LRF is described along with an introduction to a cylindrical coordinate digital elevation map (C2DEM). The gird-based path planning algorithm is also presented. Field experiments regarding the path planning and navigation that evaluate the feasibility of the framework developed in this work are reported.

Original languageEnglish
Title of host publicationSpringer Tracts in Advanced Robotics
Pages431-447
Number of pages17
Volume92
DOIs
Publication statusPublished - 2014
Event8th International Conference on Field and Service Robotics, FSR 2012 - Matsushima, Miyagi, Japan
Duration: 2012 Jul 162012 Jul 19

Publication series

NameSpringer Tracts in Advanced Robotics
Volume92
ISSN (Print)16107438
ISSN (Electronic)1610742X

Other

Other8th International Conference on Field and Service Robotics, FSR 2012
CountryJapan
CityMatsushima, Miyagi
Period12/7/1612/7/19

Fingerprint

Range finders
Motion planning
Navigation
Lasers
Cost functions
Surface roughness
Experiments

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Artificial Intelligence

Cite this

Ishigami, G., Otsuki, M., & Kubota, T. (2014). Path planning and navigation framework for a planetary exploration rover using a laser range finder. In Springer Tracts in Advanced Robotics (Vol. 92, pp. 431-447). (Springer Tracts in Advanced Robotics; Vol. 92). https://doi.org/10.1007/978-3-642-40686-7_29

Path planning and navigation framework for a planetary exploration rover using a laser range finder. / Ishigami, Genya; Otsuki, Masatsugu; Kubota, Takashi.

Springer Tracts in Advanced Robotics. Vol. 92 2014. p. 431-447 (Springer Tracts in Advanced Robotics; Vol. 92).

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

Ishigami, G, Otsuki, M & Kubota, T 2014, Path planning and navigation framework for a planetary exploration rover using a laser range finder. in Springer Tracts in Advanced Robotics. vol. 92, Springer Tracts in Advanced Robotics, vol. 92, pp. 431-447, 8th International Conference on Field and Service Robotics, FSR 2012, Matsushima, Miyagi, Japan, 12/7/16. https://doi.org/10.1007/978-3-642-40686-7_29
Ishigami G, Otsuki M, Kubota T. Path planning and navigation framework for a planetary exploration rover using a laser range finder. In Springer Tracts in Advanced Robotics. Vol. 92. 2014. p. 431-447. (Springer Tracts in Advanced Robotics). https://doi.org/10.1007/978-3-642-40686-7_29
Ishigami, Genya ; Otsuki, Masatsugu ; Kubota, Takashi. / Path planning and navigation framework for a planetary exploration rover using a laser range finder. Springer Tracts in Advanced Robotics. Vol. 92 2014. pp. 431-447 (Springer Tracts in Advanced Robotics).
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