NASA Logo

NTRS

NTRS - NASA Technical Reports Server

Collections About News Help Login
Back to Results
Path planning for planetary rover using extended elevation mapThis paper describes a path planning method for planetary rovers to search for paths on planetary surfaces. The planetary rover is required to travel safely over a long distance for many days over unfamiliar terrain. Hence it is very important how planetary rovers process sensory information in order to understand the planetary environment and to make decisions based on that information. As a new data structure for informational mapping, an extended elevation map (EEM) has been introduced, which includes the effect of the size of the rover. The proposed path planning can be conducted in such a way as if the rover were a point while the size of the rover is automatically taken into account. The validity of the proposed methods is verified by computer simulations.
Document ID
19950017269
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Nakatani, Ichiro (Tokyo Univ. Sagamihara, Japan)
Kubota, Takashi (Tokyo Univ. Sagamihara, Japan)
Yoshimitsu, Tetsuo (Tokyo Univ. Sagamihara, Japan)
Date Acquired
September 6, 2013
Publication Date
October 1, 1994
Publication Information
Publication: JPL, Third International Symposium on Artificial Intelligence, Robotics, and Automation for Space 1994
Subject Category
Lunar And Planetary Exploration
Accession Number
95N23689
Distribution Limits
Public
Copyright
Work of the US Gov. Public Use Permitted.

Related Records

IDRelationTitle19950017195Collected WorksEleventh Workshop for Computational Fluid Dynamic Applications in Rocket Propulsion, Part 1
No Preview Available