TY - GEN
T1 - Path planning and navigation framework for a planetary exploration rover using a laser range finder
AU - Ishigami, Genya
AU - Otsuki, Masatsugu
AU - Kubota, Takashi
PY - 2014
Y1 - 2014
N2 - 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 (C2DEM). 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.
AB - 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 (C2DEM). 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.
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U2 - 10.1007/978-3-642-40686-7_29
DO - 10.1007/978-3-642-40686-7_29
M3 - Conference contribution
AN - SCOPUS:84897699680
SN - 9783642406850
T3 - Springer Tracts in Advanced Robotics
SP - 431
EP - 447
BT - Field and Service Robotics - Results of the 8th International Conference
T2 - 8th International Conference on Field and Service Robotics, FSR 2012
Y2 - 16 July 2012 through 19 July 2012
ER -