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

Genya Ishigami, Masatsugu Otsuki, Takashi Kubota

研究成果: Conference contribution

2 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルField and Service Robotics - Results of the 8th International Conference
ページ431-447
ページ数17
DOI
出版ステータスPublished - 2014 3 11
イベント8th International Conference on Field and Service Robotics, FSR 2012 - Matsushima, Miyagi, Japan
継続期間: 2012 7 162012 7 19

出版物シリーズ

名前Springer Tracts in Advanced Robotics
92
ISSN(印刷版)1610-7438
ISSN(電子版)1610-742X

Other

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

ASJC Scopus subject areas

  • 電子工学および電気工学
  • 人工知能

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