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 (C 2 DEM). 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.
Path Planning and Navigation Framework for a Planetary Exploration Rover Using a Laser Range Finder
Framework zur Wegplanung und Navigation für eine Weltraumfahrzeug zur Erforschung von Planeten mit Hilfe eines Laserentfernungsmessers
2013
17 Seiten
Aufsatz (Konferenz)
Englisch
Onboard Autonomous Path Planning for a Planetary Exploration Rover (AIAA 2013-4825)
British Library Conference Proceedings | 2013
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