Sensing position planning for lunar exploration rovers

Andres Mora, Genya Ishigami, Keiji Nagatani, Kazuya Yoshida

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

2 Citations (Scopus)

Abstract

In this paper, the authors present a novel criterion for path planning based on the visibility index caused by obstacles detected through laser range sensors when exploring lunar craters. The proposed path planning algorithm calculates an index based on terrain roughness, path length and occlusion, and determines the areas where obstacles may limit the visibility of the area where the rover must go next. The derivation of the visibility index is explained in detail and the algorithm steps are described throughly. Simulations were carried out in order to test the proposed algorithm and a results are presented.

Original languageEnglish
Title of host publicationProceedings of 2008 IEEE International Conference on Mechatronics and Automation, ICMA 2008
Pages732-737
Number of pages6
DOIs
Publication statusPublished - 2008
Externally publishedYes
Event2008 IEEE International Conference on Mechatronics and Automation, ICMA 2008 - Takamatsu, Japan
Duration: 2008 Aug 52008 Aug 8

Other

Other2008 IEEE International Conference on Mechatronics and Automation, ICMA 2008
CountryJapan
CityTakamatsu
Period08/8/508/8/8

Fingerprint

Lunar missions
Visibility
Motion planning
Planning
Surface roughness
Lasers
Sensors

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Mora, A., Ishigami, G., Nagatani, K., & Yoshida, K. (2008). Sensing position planning for lunar exploration rovers. In Proceedings of 2008 IEEE International Conference on Mechatronics and Automation, ICMA 2008 (pp. 732-737). [4798847] https://doi.org/10.1109/ICMA.2008.4798847

Sensing position planning for lunar exploration rovers. / Mora, Andres; Ishigami, Genya; Nagatani, Keiji; Yoshida, Kazuya.

Proceedings of 2008 IEEE International Conference on Mechatronics and Automation, ICMA 2008. 2008. p. 732-737 4798847.

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

Mora, A, Ishigami, G, Nagatani, K & Yoshida, K 2008, Sensing position planning for lunar exploration rovers. in Proceedings of 2008 IEEE International Conference on Mechatronics and Automation, ICMA 2008., 4798847, pp. 732-737, 2008 IEEE International Conference on Mechatronics and Automation, ICMA 2008, Takamatsu, Japan, 08/8/5. https://doi.org/10.1109/ICMA.2008.4798847
Mora A, Ishigami G, Nagatani K, Yoshida K. Sensing position planning for lunar exploration rovers. In Proceedings of 2008 IEEE International Conference on Mechatronics and Automation, ICMA 2008. 2008. p. 732-737. 4798847 https://doi.org/10.1109/ICMA.2008.4798847
Mora, Andres ; Ishigami, Genya ; Nagatani, Keiji ; Yoshida, Kazuya. / Sensing position planning for lunar exploration rovers. Proceedings of 2008 IEEE International Conference on Mechatronics and Automation, ICMA 2008. 2008. pp. 732-737
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