This paper presents the application of the Anisotropic Fast Marching Method to the path planning problem of mobile robots moving in outdoors environments, such as Mars. Considering that at any point on a 3D surface there are two main slopes: the maximum, which is the slope of the gradient, and the minimum, the height map of a terrain can be considered as a tensor filed. Using the Anisotropic Fast Marching Method, the resulting trajectory of the path planning takes the tensor field into account so that the slopes in the trajectory are minimized. Numerical simulations are presented to show the advantage of this method over its isotropic version. Besides, the influence of the anisotropic index and the traversability of the resultant paths are analyzed. ; This work was supported in part by the projects: "RoboCity2030-III-CM project (Robótica aplicada a la mejora de la calidad de vida de los ciudadanos. fase III; S2013/MIT-2748), in part by Programas de Actividades I+D en la Comunidad de Madrid and cofunded by Structural Funds of the EU" and in part by "Investigación para la mejora competitiva del ciclo de perforación y voladura en minería y obras subterráneas, mediante la concepción de nuevas técnicas de ingeniería, explosivos, prototipos y herramientas avanzadas (TUÑEL)".
An anisotropic fast marching method applied to path planning for Mars rovers
2019-07-01
AR/0000024958
Article (Journal)
Electronic Resource
English