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Path planning for reconfigurable rovers in planetary exploration
dc.contributor.author | Sánchez, J.R. | |
dc.contributor.author | Pérez-del-Pulgar-Mancebo, Carlos Jesús | |
dc.contributor.author | Azkarate, Martin | |
dc.date.accessioned | 2017-07-14T11:05:03Z | |
dc.date.available | 2017-07-14T11:05:03Z | |
dc.date.created | 2017 | |
dc.date.issued | 2017 | |
dc.identifier.uri | http://hdl.handle.net/10630/14232 | |
dc.description.abstract | This paper introduces a path planning algorithm that takes into consideration different locomotion modes in a wheeled reconfigurable rover. Such algorithm, based on Fast Marching, 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 is validated on a virtual Martian scene created within the V-REP simulation platform, where a virtual model of a planetary rover prototype is controlled by the same software that is used on the real one. Results of this contribution also demonstrate how the use of two locomotion modes, wheel-walking and normal-driving, can reduce the power consumption for a particular area. | es_ES |
dc.description.sponsorship | Universidad de Málaga. Campus de Excelencia Internacional Andalucía Tech. | es_ES |
dc.language.iso | spa | es_ES |
dc.rights | info:eu-repo/semantics/openAccess | es_ES |
dc.subject | Robots autónomos | es_ES |
dc.title | Path planning for reconfigurable rovers in planetary exploration | es_ES |
dc.type | info:eu-repo/semantics/conferenceObject | es_ES |
dc.centro | Escuela de Ingenierías Industriales | es_ES |
dc.relation.eventtitle | 14th Symposium on Advanced Space Technologies in Robotics and Automation | es_ES |
dc.relation.eventplace | Leiden, Holanda | es_ES |
dc.relation.eventdate | 20 de Junio de 2017 | es_ES |
dc.identifier.orcid | http://orcid.org/0000-0001-5819-8310 | es_ES |
dc.cclicense | by-nc-nd | es_ES |