2026-06-03T14:36:49Zhttps://riuma.uma.es/rest/oai/request

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

Path Planning for Reconfigurable Rovers in Planetary Exploration Pérez-del-Pulgar-Mancebo, Carlos Jesús Sánchez, J.R. Sánchez, A.J. Azkarate, Martin Visentin, Gianfranco Robots autónomos 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. 2017-07-14T11:09:24Z 2017-07-14T11:09:24Z 2017 2017 conference output http://hdl.handle.net/10630/14233 http://orcid.org/0000-0001-5819-8310 eng IEEE International Conference on Advanced Intelligent Mechatronics Munich Julio 2017 open access by-nc-nd IEEE