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 publicationField and Service Robotics - Results of the 8th International Conference
Pages431-447
Number of pages17
DOIs
Publication statusPublished - 2014 Mar 11
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)1610-7438
ISSN (Electronic)1610-742X

Other

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

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Artificial Intelligence

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  • 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 Field and Service Robotics - Results of the 8th International Conference (pp. 431-447). (Springer Tracts in Advanced Robotics; Vol. 92). https://doi.org/10.1007/978-3-642-40686-7_29