RT Conference Proceedings
T1 Path planning for reconfigurable rovers in planetary exploration
A1 Sánchez, J.R.
A1 Pérez-del-Pulgar-Mancebo, Carlos Jesús
A1 Azkarate, Martin
K1 Robots autónomos
AB This paper introduces a path planning algorithm thattakes into consideration different locomotion modes ina wheeled reconfigurable rover. Such algorithm, basedon Fast Marching, calculates the optimal path in termsof power consumption between two positions, providingthe most appropriate locomotion mode to be usedat each position. Finally, the path planning algorithm isvalidated on a virtual Martian scene created within theV-REP simulation platform, where a virtual model of aplanetary rover prototype is controlled by the same softwarethat is used on the real one. Results of this contributionalso demonstrate how the use of two locomotionmodes, wheel-walking and normal-driving, can reducethe power consumption for a particular area.
YR 2017
FD 2017
LK http://hdl.handle.net/10630/14232
UL http://hdl.handle.net/10630/14232
LA spa
NO Universidad de Málaga. Campus de Excelencia Internacional Andalucía Tech.
DS RIUMA. Repositorio Institucional de la Universidad de Málaga
RD 19 ene 2026