Sensing position planning for lunar exploration rovers

Andres Mora, Genya Ishigami, Keiji Nagatani, Kazuya Yoshida

研究成果: Conference contribution

2 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルProceedings of 2008 IEEE International Conference on Mechatronics and Automation, ICMA 2008
ページ732-737
ページ数6
DOI
出版ステータスPublished - 2008
外部発表はい
イベント2008 IEEE International Conference on Mechatronics and Automation, ICMA 2008 - Takamatsu, Japan
継続期間: 2008 8 52008 8 8

出版物シリーズ

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

Other

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

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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