Path planning and evaluation for planetary rovers based on dynamic mobility index

IEEE International Conference on Intelligent Robots and Systems

Volumn , Issue , 2011, Pages 601-606

  Ishigami, Genya ^a   Nagatani, Keiji ^b   Yoshida, Kazuya ^b  

^a JAPAN AEROSPACE EXPLORATION AGENCY   (Japan)

^b TOHOKU UNIVERSITY   (Japan)

Author keywords

[No Author keywords available]

Indexed keywords

DYNAMIC MOBILITY; EVALUATION STRATEGIES; ON DYNAMICS; PATH-PLANNING ALGORITHM; PLANETARY EXPLORATION ROVERS; PLANETARY ROVERS; ROBOTIC MOBILITY; ROUGH TERRAINS; WEIGHTING FACTORS; WHEEL SLIPPAGE;

COMPUTER SIMULATION; ENERGY UTILIZATION; INTELLIGENT ROBOTS; INTERPLANETARY SPACECRAFT; PLANETARY LANDERS;

ROBOTICS;

EID: 84455175247     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IROS.2011.6048429     Document Type: Conference Paper

References (21)

1. A. Stentz, "Optimal and efficient path planning for partially-known environments," in Proc. of the 1994 IEEE Int. Conf. on Robotics and Automation, San Diego, CA, pp. 3310-3317.
2. J. Barraquand, B. Langlois, and J. C. Latombe, "Numerical potential field techniques for robot path planning," IEEE Trans. on Systems, Man and Cybernetics, vol. 22, no. 2, pp. 224-241, 1992.
3. L. E. Kavraki, P. Svestka, J.-C. Latombe, and M. H. Overmars, "Probabilistic roadmaps for path planning in high-dimensional configuration spaces," IEEE Trans. on Robotics and Automation, vol. 12, no. 4, pp. 566-580, 1996. (Pubitemid 126774162)
4. P. Cheng, Z. Shen, and S. M. LaValle, "RRT-based trajectory design for autonomous automobiles and spacecraft," Archives of Control Sciences, vol. 11, no. 3-4, pp. 167-194, 2001.
5. B. Donald, P. Xavier, J. Canny, and J. Reif, "Kinodynamic motion planning," Journal of the ACM, vol. 40, no. 5, pp. 1048-1066, 1993.
6. C. Urmson, and R. Simmons., "Approaches for heuristically biasing RRT growth," in Proc. of the 2003 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Las Vegas, NV, pp. 1178-1183.
7. Y. Kuwata, J. Teo, S. Karaman, G. Fiore, E. Frazzoli, and J. How, "Real-time Motion Planning with Applications to Autonomous Urban Driving," IEEE Trans. on Control Systems Technology, vol. 17, no. 5, pp. 1105-1118, 2009.
8. T. Howard and A. Kelly, "Trajectory and Spline Generation for All-Wheel Steering Mobile Robots," in Proc. of the 2006 IEEE Int. Conf. on Intelligent Robots and Systems, Beijing, China, pp. 4827-4832.
9. K. Iagnemma and S. Dubowsky, Mobile Robots in Rough Terrain: Estimation, Motion Planning, and Control with Application to Planetary Rovers, Springer Tracts in Advanced Robotics, 2004.
10. A. Howard, H. Seraji, and E. Tunstel, "A Rule-Based Fuzzy Traversability Index for Mobile Robot Navigation," in Proc. of the 2001 IEEE Conf. on Robotics and Automation, Seoul, Korea, pp. 3067-3071.
11. S. Singh, R. Simmons, T. Smith, A. Stentz, V. Verma, A. Yahja, and K. Schwehr, "Recent Progress in Local and Global Traversability for Planetary Rovers,", in Proc. of the 2000 IEEE Conf. on Robotics and Automation, San Francisco, CA, pp. 1194-1200.
12. A. Gibbesch and B. Schäfer, "Multibody system modelling and simulation of planetary rover mobility on soft terrain," in Proc. of 8th Int. Symp.on Artificial Intelligence, Robotics and Automation in Space, i-SAIRAS, Munich, Germany, 2005.
13. G. Ishigami, A. Miwa, K. Nagatani, and K. Yoshida, "Terramechanics- Based Model for Steering Maneuver of Planetary Exploration Rovers on Loose Soil," Journal of Field Robotics, vol. 24, no. 3, pp. 233-250, 2007. (Pubitemid 46647286)
14. G. Ishigami, G. Kewlani, and K. Iagnemma, "Predictable Mobility," IEEE Robotics and Automation Magazine, vol. 16, no. 4, pp. 61-70, 2009.
15. D. Helmick, A. Angelova, L. Matthies, C. Brooks, I. Halatci, S. Dubowsky, and K. Iagnemma, "Experimental Results from a Terrain Adaptive Navigation System for Planetary Rovers," in Proc. of 9th Int. Symp. on Artificial Intelligence, Robotics and Automation in Space, i- SAIRAS, Hollywood, CA, 2008.
16. Steven M. LaValle; PLANNING ALGORITHMS, Cambridge University Press, 2006.
17. J. Wong, Theory of Ground Vehicles. 4th Ed., New York, Wiley, 2008.
18. G. Ishigami, K. Nagatani, and K. Yoshida, "Slope Traversal Controls for Planetary Exploration Rover on Sandy Terrain," Journal of Field Robotics, vol. 26, no. 3, pp. 264-286, 2009.
19. Y. Yokokoji, S. Chaen, and T. Yoshikawa, "Evaluation of Traversability of Wheeled Mobile Robots on Uneven Terrains by Fractal Terrain Model," in Proc. of the 2004 IEEE Int. Conf. on Robotics And Automation, Sendai, Japan, pp. 2183-2188.
20. H. Nakashima, Y. Shioji, K. Tateyama, S. Aoki, H. Kanamori, and T. Yokoyama, "Specific Cutting Resistance of Lunar Regolith. Simulant under Low Gravity Conditions," Journal of Space Engineering, vol. 1, no. 1, pp. 58-68, 2008.
21. L. Ojeda, J. Borenstein, and G. Witus, "Terrain Trafficability Characterization with a Mobile Robot," in Proc. of the SPIE Defense and Security Conference, Unmanned Ground Vehicle Technology VII, Orlando, FL, 2005.