TEMPEST is a planner for long-range planetary navigation that bridges the gap between path planning and classical planning and scheduling. In addition to planning routes, our approach yields the timing and placement of actions to conserve and restore expendable resources and that abide by operational constraints. TEMPEST calls upon the incremental search engine (ISE) to enable heuristic path planning and efficient re-planning under global constraints, over a four dimensional state space. We describe our approach, then demonstrate how the planner operates in a simulated Mars science traverse. Following a brief summary of TEMPEST results from a recent rover field experiment, we evaluate our research progress and describe our current and future work.
Global path planning for Mars rover exploration
2004 IEEE Aerospace Conference Proceedings (IEEE Cat. No.04TH8720) ; 2 ; 801-815 Vol.2
2004-01-01
1451980 byte
Conference paper
Electronic Resource
English
2.1605 Global Path Planning for Mars Rover Exploration
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