RT Conference Proceedings
T1 Coupled path and motion planning for a rover-manipulator system
A1 Pérez-del-Pulgar-Mancebo, Carlos Jesús
A1 Sánchez Ibáñez, José Ricardo
A1 Paz Delgado, Gonzalo Jesús
A1 Romeo Manrique, Pablo
A1 Azkarate, Martin
K1 Robótica espacial
K1 Exploración planetaria
AB This paper introduces a motion planning strategy aimedat the coordination of a rover and manipulator. The mainpurpose is to fetch samples of scientific interest that couldbe placed on difficult locations, requiring to maximizethe workspace of the combined system. In order to validatethis strategy, a simulation environment has been built, based on the VORTEX Studio platform. A virtual model of the ExoTer rover prototype, owned by the European Space Agency, has been used together with the same robot control software. Finally, we show in this paper the benefits of validating the proposed strategy on simulation, prior to its future use on the real experimental rover.
YR 2019
FD 2019-06-17
LK https://hdl.handle.net/10630/17820
UL https://hdl.handle.net/10630/17820
LA eng
NO Universidad de Málaga. Campus de Excelencia Internacional Andalucía Tech
DS RIUMA. Repositorio Institucional de la Universidad de Málaga
RD 20 ene 2026