RT Conference Proceedings
T1 Path Planning for Reconfigurable Rovers in Planetary Exploration
A1 Pérez-del-Pulgar-Mancebo, Carlos Jesús
A1 Sánchez, J.R.
A1 Sánchez, A.J.
A1 Azkarate, Martin
A1 Visentin, Gianfranco
K1 Robots autónomos
AB This paper introduces a path planning algorithmthat takes into consideration different locomotion modes in awheeled reconfigurable rover. Power consumption and tractionare estimated by means of simplified dynamics models for eachlocomotion mode. In particular, wheel-walking and normaldrivingare modeled for a planetary rover prototype. Thesemodels are then used to define the cost function of a pathplanning algorithm based on fast marching. It calculates theoptimal path, in terms of power consumption, between twopositions, providing the most appropriate locomotion mode tobe used at each position. Finally, the path planning algorithmwas implemented in V-REP simulation software and a Martianarea was used to validate it. Results of this contribution alsodemonstrate how the use of these locomotion modes wouldreduce the power consumption for a particular area.
PB IEEE
YR 2017
FD 2017
LK http://hdl.handle.net/10630/14233
UL http://hdl.handle.net/10630/14233
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