2026-06-01T12:53:40Zhttps://riuma.uma.es/rest/oai/request

oai:riuma.uma.es:10630/142332026-02-03T12:14:47Zcom_10630_2254col_10630_37959

Pérez-del-Pulgar-Mancebo, Carlos Jesús Sánchez, J.R. Sánchez, A.J. Azkarate, Martin 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 open access by-nc-nd Robots autónomos Path Planning for Reconfigurable Rovers in Planetary Exploration conference output