This chapter presents a path planning and navigation framework for a planetary exploration rover and its experimental tests at a Lunar/Martian analog site. The framework developed in this work employs a laser range finder (LRF) for terrain feature mapping. The path planning algorithm generates a feasible path based on a cost function consisting of terrain inclination, terrain roughness, and path length. A set of navigation commands for the rover is then computed from the generated path. The rover executes those navigation commands to reach a desired goal. In this paper, a terrain mapping technique that uses a LRF is described along with an introduction to a cylindrical coordinate digital elevation map (C 2 DEM). The gird-based path planning algorithm is also presented. Field experiments regarding the path planning and navigation that evaluate the feasibility of the framework developed in this work are reported.


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    Title :

    Path Planning and Navigation Framework for a Planetary Exploration Rover Using a Laser Range Finder


    Additional title:

    Framework zur Wegplanung und Navigation für eine Weltraumfahrzeug zur Erforschung von Planeten mit Hilfe eines Laserentfernungsmessers


    Contributors:


    Publication date :

    2013


    Size :

    17 Seiten





    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




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