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dc.contributor.authorPérez del Pulgar, Carlos Jesús
dc.contributor.authorSánchez, J.R.
dc.contributor.authorSánchez, A.J.
dc.contributor.authorAzkarate, Martin
dc.contributor.authorVisentin, Gianfranco
dc.date.accessioned2017-07-14T11:09:24Z
dc.date.available2017-07-14T11:09:24Z
dc.date.created2017
dc.date.issued2017
dc.identifier.urihttp://hdl.handle.net/10630/14233
dc.description.abstractThis 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.es_ES
dc.description.sponsorshipUniversidad de Málaga. Campus de Excelencia Internacional Andalucía Tech.es_ES
dc.language.isoenges_ES
dc.publisherIEEEes_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.eventtitleIEEE International Conference on Advanced Intelligent Mechatronicses_ES
dc.relation.eventplaceMuniches_ES
dc.relation.eventdateJulio 2017es_ES
dc.identifier.orcidhttp://orcid.org/0000-0001-5819-8310es_ES
dc.cclicenseby-nc-ndes_ES


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