A path planning system based on 3D occlusion detection for lunar exploration rovers

Andres Mora; Keiji Nagatani; Kazuya Yoshida; Marco Chacin

doi:10.1109/SMC-IT.2009.19

A path planning system based on 3D occlusion detection for lunar exploration rovers

Andres Mora, Keiji Nagatani, Kazuya Yoshida, Marco Chacin

ENG - Aerospace Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

1 Citation (Scopus)

Abstract

In this paper, the authors present a path planing system for autonomous navigation of lunar/planetary rover. In the path planner, candidate paths are generated and evaluated by multiple criteria including occlusion index, terrain roughness/inclination indices. The proposed system considers the occlusion effect produced by obstacles present in the inspected environment and the features of the environment itself. An algorithm that computes the next sensing position within the map is introduced as part of the system presented. The different components of the system and their interactions are explained thoroughly. Simulation and experimental results where the proposed system is implemented are presented.

Original language	English
Title of host publication	Proceedings - 2009 3rd IEEE International Conference on Space Mission Challenges for Information Technology, SMC-IT 2009
Pages	106-113
Number of pages	8
DOIs	https://doi.org/10.1109/SMC-IT.2009.19
Publication status	Published - 2009
Event	2009 3rd IEEE International Conference on Space Mission Challenges for Information Technology, SMC-IT 2009 - Pasadena, CA, United States Duration: 2009 Jul 19 → 2009 Jul 23

Publication series

Name	Proceedings - 2009 3rd IEEE International Conference on Space Mission Challenges for Information Technology, SMC-IT 2009

Other

Other	2009 3rd IEEE International Conference on Space Mission Challenges for Information Technology, SMC-IT 2009
Country/Territory	United States
City	Pasadena, CA
Period	09/7/19 → 09/7/23

ASJC Scopus subject areas

Computer Science Applications
Software
Aerospace Engineering

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10.1109/SMC-IT.2009.19

Cite this

Mora, A., Nagatani, K., Yoshida, K., & Chacin, M. (2009). A path planning system based on 3D occlusion detection for lunar exploration rovers. In Proceedings - 2009 3rd IEEE International Conference on Space Mission Challenges for Information Technology, SMC-IT 2009 (pp. 106-113). (Proceedings - 2009 3rd IEEE International Conference on Space Mission Challenges for Information Technology, SMC-IT 2009). https://doi.org/10.1109/SMC-IT.2009.19

A path planning system based on 3D occlusion detection for lunar exploration rovers. / Mora, Andres; Nagatani, Keiji; Yoshida, Kazuya et al.

Proceedings - 2009 3rd IEEE International Conference on Space Mission Challenges for Information Technology, SMC-IT 2009. 2009. p. 106-113 (Proceedings - 2009 3rd IEEE International Conference on Space Mission Challenges for Information Technology, SMC-IT 2009).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Mora, A, Nagatani, K, Yoshida, K & Chacin, M 2009, A path planning system based on 3D occlusion detection for lunar exploration rovers. in Proceedings - 2009 3rd IEEE International Conference on Space Mission Challenges for Information Technology, SMC-IT 2009. Proceedings - 2009 3rd IEEE International Conference on Space Mission Challenges for Information Technology, SMC-IT 2009, pp. 106-113, 2009 3rd IEEE International Conference on Space Mission Challenges for Information Technology, SMC-IT 2009, Pasadena, CA, United States, 09/7/19. https://doi.org/10.1109/SMC-IT.2009.19

Mora A, Nagatani K, Yoshida K, Chacin M. A path planning system based on 3D occlusion detection for lunar exploration rovers. In Proceedings - 2009 3rd IEEE International Conference on Space Mission Challenges for Information Technology, SMC-IT 2009. 2009. p. 106-113. (Proceedings - 2009 3rd IEEE International Conference on Space Mission Challenges for Information Technology, SMC-IT 2009). doi: 10.1109/SMC-IT.2009.19

Mora, Andres ; Nagatani, Keiji ; Yoshida, Kazuya et al. / A path planning system based on 3D occlusion detection for lunar exploration rovers. Proceedings - 2009 3rd IEEE International Conference on Space Mission Challenges for Information Technology, SMC-IT 2009. 2009. pp. 106-113 (Proceedings - 2009 3rd IEEE International Conference on Space Mission Challenges for Information Technology, SMC-IT 2009).

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AB - In this paper, the authors present a path planing system for autonomous navigation of lunar/planetary rover. In the path planner, candidate paths are generated and evaluated by multiple criteria including occlusion index, terrain roughness/inclination indices. The proposed system considers the occlusion effect produced by obstacles present in the inspected environment and the features of the environment itself. An algorithm that computes the next sensing position within the map is introduced as part of the system presented. The different components of the system and their interactions are explained thoroughly. Simulation and experimental results where the proposed system is implemented are presented.

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A path planning system based on 3D occlusion detection for lunar exploration rovers

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