Terrain traversability analysis (TTA), the key to the navigation of planetary rovers, is significant to the safety of the rover. Therefore, owing to its complexity, the Martian terrain is worth analysing comprehensively based on the terrain variability and hazard level. In this work, we propose a novel method for terrain traversability analysis for the path planning of planetary rovers by integrating Martian terrain geometry features with terrain semantic information, which includes geometry and environmental perception (GEP). Specifically, we deploy semantic segmentation to classify common terrain types, such as rocks, bedrocks, and sand, obtaining semantic information as one part of terrain traversability analysis at the same time. Simultaneously, the point cloud is generated by using binocular images from the planetary rover navigation camera (Navcam) to construct a 2.5D elevation map of the environment to analyse the geometric characteristics of the terrain. Besides, we implement path planning based on the results of TTA-GEP. Overall, our proposed method improves the performance of the terrain traversability analysis and reduces the risk of planetary rovers while detecting in an unstructured environment.


    Access

    Download


    Export, share and cite



    Title :

    TTA-GEP: Terrain Traversability Analysis with Geometry and Environmental Perception for the Path Planning of Planetary Rovers


    Contributors:
    Li Yang (author) / Chao Liang (author) / Ximing He (author) / Dengyang Zhao (author)


    Publication date :

    2023




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    Unknown




    Navigation on the Line: Traversability Analysis and Path Planning for Extreme-Terrain Rappelling Rovers

    Nesnas, Issa / Gammell, Jonathan D / Patel, Vandan et al. | NTRS | 2020




    Traversability Index: A New Concept for Planetary Rovers

    Seraji, H. / European Space Agency | British Library Conference Proceedings | 1999


    Recent progress in local and global traversability for planetary rovers

    Singh, S. / Simmons, R. / Smith, T. et al. | Tema Archive | 2000