Sensing position planning for lunar exploration rovers

Andres Mora; Genya Ishigami; Keiji Nagatani; Kazuya Yoshida

doi:10.1109/ICMA.2008.4798847

Sensing position planning for lunar exploration rovers

Andres Mora, Genya Ishigami, Keiji Nagatani, Kazuya Yoshida

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 language	English
Title of host publication	Proceedings of 2008 IEEE International Conference on Mechatronics and Automation, ICMA 2008
Pages	732-737
Number of pages	6
DOIs	https://doi.org/10.1109/ICMA.2008.4798847
Publication status	Published - 2008
Externally published	Yes
Event	2008 IEEE International Conference on Mechatronics and Automation, ICMA 2008 - Takamatsu, Japan Duration: 2008 Aug 5 → 2008 Aug 8

Publication series

Name	Proceedings of 2008 IEEE International Conference on Mechatronics and Automation, ICMA 2008

Other

Other	2008 IEEE International Conference on Mechatronics and Automation, ICMA 2008
Country/Territory	Japan
City	Takamatsu
Period	08/8/5 → 08/8/8

ASJC Scopus subject areas

Control and Systems Engineering
Electrical and Electronic Engineering

Access to Document

10.1109/ICMA.2008.4798847

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] (Proceedings of 2008 IEEE International Conference on Mechatronics and Automation, ICMA 2008). https://doi.org/10.1109/ICMA.2008.4798847

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

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

Research output: Chapter in Book/Report/Conference proceeding › Conference 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, Proceedings of 2008 IEEE International Conference on Mechatronics and Automation, ICMA 2008, 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

@inproceedings{f30d249b2a4d42e181a9f7a93ac998b5,

title = "Sensing position planning for lunar exploration rovers",

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.",

author = "Andres Mora and Genya Ishigami and Keiji Nagatani and Kazuya Yoshida",

year = "2008",

doi = "10.1109/ICMA.2008.4798847",

language = "English",

isbn = "9781424426324",

series = "Proceedings of 2008 IEEE International Conference on Mechatronics and Automation, ICMA 2008",

pages = "732--737",

booktitle = "Proceedings of 2008 IEEE International Conference on Mechatronics and Automation, ICMA 2008",

note = "2008 IEEE International Conference on Mechatronics and Automation, ICMA 2008 ; Conference date: 05-08-2008 Through 08-08-2008",

}

TY - GEN

T1 - Sensing position planning for lunar exploration rovers

AU - Mora, Andres

AU - Ishigami, Genya

AU - Nagatani, Keiji

AU - Yoshida, Kazuya

PY - 2008

Y1 - 2008

N2 - 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.

AB - 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.

UR - http://www.scopus.com/inward/record.url?scp=64949188498&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=64949188498&partnerID=8YFLogxK

U2 - 10.1109/ICMA.2008.4798847

DO - 10.1109/ICMA.2008.4798847

M3 - Conference contribution

AN - SCOPUS:64949188498

SN - 9781424426324

T3 - Proceedings of 2008 IEEE International Conference on Mechatronics and Automation, ICMA 2008

SP - 732

EP - 737

BT - Proceedings of 2008 IEEE International Conference on Mechatronics and Automation, ICMA 2008

T2 - 2008 IEEE International Conference on Mechatronics and Automation, ICMA 2008

Y2 - 5 August 2008 through 8 August 2008

ER -

Sensing position planning for lunar exploration rovers

Abstract

Publication series

Other

ASJC Scopus subject areas

Access to Document

Other files and links

Fingerprint

Cite this