2026-05-28T17:43:28Zhttps://riuma.uma.es/rest/oai/requestoai:riuma.uma.es:10630/142332026-02-03T12:14:47Zcom_10630_2254col_10630_37959
RIUMA. Repositorio Institucional de la Universidad de Málaga
author
Pérez-del-Pulgar-Mancebo, Carlos Jesús
author
Sánchez, J.R.
author
Sánchez, A.J.
author
Azkarate, Martin
author
Visentin, Gianfranco
2017-07-14T11:09:24Z
2017-07-14T11:09:24Z
2017
http://hdl.handle.net/10630/14233
http://orcid.org/0000-0001-5819-8310
This paper introduces a path planning algorithm
that takes into consideration different locomotion modes in a
wheeled reconfigurable rover. Power consumption and traction
are estimated by means of simplified dynamics models for each
locomotion mode. In particular, wheel-walking and normaldriving
are modeled for a planetary rover prototype. These
models are then used to define the cost function of a path
planning algorithm based on fast marching. It calculates the
optimal path, in terms of power consumption, between two
positions, providing the most appropriate locomotion mode to
be used at each position. Finally, the path planning algorithm
was implemented in V-REP simulation software and a Martian
area was used to validate it. Results of this contribution also
demonstrate how the use of these locomotion modes would
reduce the power consumption for a particular area.
eng
by-nc-nd
Robots autónomos
Path Planning for Reconfigurable Rovers in Planetary Exploration
conference output
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