A path planner and an execution monitoring planner that will enable the rover to navigate to its various destinations safely and correctly while detecting and avoiding hazards are described. An overview of the complete architecture is given. Implementation and testbeds are described. The robot can detect unforeseen obstacles and take appropriate action. This includes having the rover back away from the hazard and mark the area as untraversable in the rover's internal map. The experiments have consisted of paths roughly 20 m in length. The architecture works with a large variety of rover configurations with different kinematic constraints.


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    Titel :

    Path planning and execution monitoring for a planetary rover


    Weitere Titelangaben:

    Wegplanung und Ausführungsüberwachung von Roboterfahrzeugen in der Raumfahrttechnik


    Beteiligte:
    Gat, E. (Autor:in) / Slack, M.G. (Autor:in) / Miller, D.P. (Autor:in) / Firby, R.J. (Autor:in)


    Erscheinungsdatum :

    1990


    Format / Umfang :

    6 Seiten, 18 Quellen




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Print


    Sprache :

    Englisch




    Path planning and execution monitoring for a planetary rover

    Gat, Erann / Slack, Marc G. / Miller, David P. et al. | NTRS | 1990


    Planning for Execution Monitoring on a Planetary Rover

    E. Gat / R. J. Firby / D. P. Miller | NTIS | 1990


    Planning for execution monitoring on a planetary rover

    Gat, Erann / Firby, R. James / Miller, David P. | NTRS | 1990


    Onboard Autonomous Path Planning for a Planetary Exploration Rover

    RUSU, Alexandru / Moreno, Sabine / Wanatabe, Yoko et al. | AIAA | 2013


    Path planning for planetary rover using extended elevation map

    Nakatani, Ichiro / Kubota, Takashi / Yoshimitsu, Tetsuo | NTRS | 1994