Path planning for planetary exploration rovers and its evaluation based on wheel slip dynamics

Genya Ishigami, Keiji Nagatani, Kazuya Yoshida

研究成果: Conference contribution

83 被引用数 (Scopus)

抄録

In this paper, a path planning and its evaluation method is described with taking into account wheel slip dynamics of lunar/planetary exploration rovers. The surface of the planetary body is largely covered with powdery soil. On such loose soil, the wheel slippage which will make the rover get stuck must be concerned. Since the slippage dynamically depends on the posture/velocity of vehicle, soil characteristics, and wheel-soil interactions, it becomes difficult issues to incorporate the wheel slip dynamics as a criterion into path-planning algorithms. To tackle the slippage problem, the authors develop the path-planning algorithm and the path-evaluation method based on the following approach. First, a path on a rough terrain is generated with the terrain-based criteria function. Subsequently, the dynamics simulation of a rover is carried out in which the rover is controlled to follow the candidate path. Finally, the path is properly evaluated based on the slip motion profiles calculated by the simulation. Demonstrations for the proposed technique are addressed along with a discussion on characteristics of the candidate path and the slip motion profile of the rover.

本文言語English
ホスト出版物のタイトル2007 IEEE International Conference on Robotics and Automation, ICRA'07
ページ2361-2366
ページ数6
DOI
出版ステータスPublished - 2007
外部発表はい
イベント2007 IEEE International Conference on Robotics and Automation, ICRA'07 - Rome, Italy
継続期間: 2007 4月 102007 4月 14

出版物シリーズ

名前Proceedings - IEEE International Conference on Robotics and Automation
ISSN(印刷版)1050-4729

Other

Other2007 IEEE International Conference on Robotics and Automation, ICRA'07
国/地域Italy
CityRome
Period07/4/1007/4/14

ASJC Scopus subject areas

  • ソフトウェア
  • 制御およびシステム工学
  • 人工知能
  • 電子工学および電気工学

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