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ICRA
1999
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Rapid Physics-Based Rough-Terrain Rover Planning with Sensor and Control Uncertainty

9 years 2 months ago
Rapid Physics-Based Rough-Terrain Rover Planning with Sensor and Control Uncertainty
In future planetary exploration missions, rovers will be required to autonomously traverse challenging environments. Much of the previous work in robot motion planning cannot be successfully applied to the rough-terrain planning problem. A model-based planning method is presented in this paper that is computationally efficient and takes into account uncertainty in the robot model, terrain model, range sensor data, and rover pathfollowing errors. It is based on rapid path planning through the visible terrain map with a simple graph-search algorithm, followed by a physics-based evaluation of the path with a rover model. Simulation results are presented which demonstrate the method's effectiveness.
Karl Iagnemma, Frank Génot, Steven Dubowsky
Added 03 Aug 2010
Updated 03 Aug 2010
Type Conference
Year 1999
Where ICRA
Authors Karl Iagnemma, Frank Génot, Steven Dubowsky
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