Publication Date:
2013-08-31
Description:
This 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.
Keywords:
LUNAR AND PLANETARY EXPLORATION
Type:
JPL, Third International Symposium on Artificial Intelligence, Robotics, and Automation for Space 1994; p 87-90
Format:
application/pdf
