Aiming at the problem that dangerous terrain is difficult to avoid in extraterrestrial rover missions, an optimal path planning framework based on vibration information considering terrain constraints is proposed. The terrain hardness function is introduced to model the hardness characteristics of different terrain materials. The pseudo-spectral method is used to parameterize the optimal control problem which includes terrain constraints and the interior point method is used to optimize the parameters, thereby generating an optimal path that avoids obstacles and dangerous terrain at the same time, which is verified in a simulation environment.
Optimal Path Planning of Planetary Rovers with Safety Considerable
Lect. Notes Electrical Eng.
International Conference on Autonomous Unmanned Systems ; 2021 ; Changsha, China September 24, 2021 - September 26, 2021
Proceedings of 2021 International Conference on Autonomous Unmanned Systems (ICAUS 2021) ; Chapter : 325 ; 3308-3320
2022-03-18
13 pages
Article/Chapter (Book)
Electronic Resource
English
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