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

Andres Mora, Keiji Nagatani, Kazuya Yoshida, Marco Chacin

Research output: Chapter in Book/Report/Conference proceedingConference 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 languageEnglish
Title of host publicationProceedings - 2009 3rd IEEE International Conference on Space Mission Challenges for Information Technology, SMC-IT 2009
Pages106-113
Number of pages8
DOIs
Publication statusPublished - 2009 Nov 12
Event2009 3rd IEEE International Conference on Space Mission Challenges for Information Technology, SMC-IT 2009 - Pasadena, CA, United States
Duration: 2009 Jul 192009 Jul 23

Publication series

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

Other

Other2009 3rd IEEE International Conference on Space Mission Challenges for Information Technology, SMC-IT 2009
CountryUnited States
CityPasadena, CA
Period09/7/1909/7/23

ASJC Scopus subject areas

  • Computer Science Applications
  • Software
  • Aerospace Engineering

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