TY - GEN
T1 - Path planning and evaluation for planetary rovers based on dynamic mobility index
AU - Ishigami, Genya
AU - Nagatani, Keiji
AU - Yoshida, Kazuya
PY - 2011
Y1 - 2011
N2 - Planetary exploration rovers are required to (semi-) autonomously navigate itself on rough terrain. In such scenario, a feasible path to be followed must be accurately planned, allowing the rover to safely traverse without any mobility hazards. In this paper, a path planning and evaluation strategy that explicitly considers dynamic mobility of the rover is presented. The proposed strategy consists of the following three steps. First, various paths on a given terrain map are generated with varying weighting factors for path planning algorithm. Each path is then examined through complete dynamic simulations of the rover in which the rover travels along with the path. The simulation result provides a metric for robotic mobility. The metric, termed a dynamic mobility index, consists of stability of the rover, wheel slippage, elapsed time, and energy consumption. All of the paths generated are quantitatively evaluated based on the dynamic mobility index, and then, the most feasible path between them is obtained. Demonstrations for the path planning and evaluation are presented in this paper that confirms the validity of the proposed strategy.
AB - Planetary exploration rovers are required to (semi-) autonomously navigate itself on rough terrain. In such scenario, a feasible path to be followed must be accurately planned, allowing the rover to safely traverse without any mobility hazards. In this paper, a path planning and evaluation strategy that explicitly considers dynamic mobility of the rover is presented. The proposed strategy consists of the following three steps. First, various paths on a given terrain map are generated with varying weighting factors for path planning algorithm. Each path is then examined through complete dynamic simulations of the rover in which the rover travels along with the path. The simulation result provides a metric for robotic mobility. The metric, termed a dynamic mobility index, consists of stability of the rover, wheel slippage, elapsed time, and energy consumption. All of the paths generated are quantitatively evaluated based on the dynamic mobility index, and then, the most feasible path between them is obtained. Demonstrations for the path planning and evaluation are presented in this paper that confirms the validity of the proposed strategy.
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U2 - 10.1109/IROS.2011.6048429
DO - 10.1109/IROS.2011.6048429
M3 - Conference contribution
AN - SCOPUS:84455175247
SN - 9781612844541
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 601
EP - 606
BT - IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
T2 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11
Y2 - 25 September 2011 through 30 September 2011
ER -
