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dc.contributor.authorSánchez, J.R.
dc.contributor.authorPerez-del-Pulgar-Mancebo, Carlos Jesus 
dc.contributor.authorAzkarate, Martin
dc.date.accessioned2017-07-14T11:05:03Z
dc.date.available2017-07-14T11:05:03Z
dc.date.created2017
dc.date.issued2017
dc.identifier.urihttp://hdl.handle.net/10630/14232
dc.description.abstractThis 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.sponsorshipUniversidad de Málaga. Campus de Excelencia Internacional Andalucía Tech.es_ES
dc.language.isospaes_ES
dc.rightsinfo:eu-repo/semantics/openAccesses_ES
dc.subjectRobots autónomoses_ES
dc.titlePath planning for reconfigurable rovers in planetary explorationes_ES
dc.typeinfo:eu-repo/semantics/preprintes_ES
dc.typeinfo:eu-repo/semantics/conferenceObjectes_ES
dc.centroEscuela de Ingenierías Industrialeses_ES
dc.relation.eventtitle14th Symposium on Advanced Space Technologies in Robotics and Automationes_ES
dc.relation.eventplaceLeiden, Holandaes_ES
dc.relation.eventdate20 de Junio de 2017es_ES
dc.identifier.orcidhttp://orcid.org/0000-0001-5819-8310es_ES
dc.cclicenseby-nc-ndes_ES


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