RT Journal Article
T1 Dynamic path planning for reconfigurable rovers using a multi-layered grid
A1 Sánchez Ibáñez, José Ricardo
A1 Pérez-del-Pulgar-Mancebo, Carlos Jesús
A1 Azkarate, Martin
A1 Gerdes, Levin
A1 García-Cerezo, Alfonso José
K1 Multicontroladores
K1 Robótica
AB Autonomy on rovers is desirable in order to extend the traversed distance, and therefore, maximize the numberof places visited during the mission. It depends heavily on the information that is available for the traversedsurface on other planet. This information may come from the vehicle’s sensors as well as from orbital images.Besides, future exploration missions may consider the use of reconfigurable rovers, which are able to executemultiple locomotion modes to better adapt to different terrains. With these considerations, a path planningalgorithm based on the Fast Marching Method is proposed. Environment information coming from differentsources is used on a grid formed by two layers. First, the Global Layer with a low resolution, but high extensionis used to compute the overall path connecting the rover and the desired goal, using a cost function that takesadvantage of the rover locomotion modes. Second, the Local Layer with higher resolution but limited distanceis used where the path is dynamically repaired because of obstacle presence. Finally, we show simulation andfield test results based on several reconfigurable and non-reconfigurable rover prototypes and a experimentalterrain.
YR 2019
FD 2019-12-18
LK https://hdl.handle.net/10630/19089
UL https://hdl.handle.net/10630/19089
LA eng
DS RIUMA. Repositorio Institucional de la Universidad de Málaga
RD 19 ene 2026