A path planner and an execution monitoring planner that will enable the rover to navigate to its various destinations safely and correctly while detecting and avoiding hazards are described. An overview of the complete architecture is given. Implementation and testbeds are described. The robot can detect unforeseen obstacles and take appropriate action. This includes having the rover back away from the hazard and mark the area as untraversable in the rover's internal map. The experiments have consisted of paths roughly 20 m in length. The architecture works with a large variety of rover configurations with different kinematic constraints.


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    Title :

    Path planning and execution monitoring for a planetary rover


    Additional title:

    Wegplanung und Ausführungsüberwachung von Roboterfahrzeugen in der Raumfahrttechnik


    Contributors:
    Gat, E. (author) / Slack, M.G. (author) / Miller, D.P. (author) / Firby, R.J. (author)


    Publication date :

    1990


    Size :

    6 Seiten, 18 Quellen




    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




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