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Rapid physics-based rough-terrain rover planning with sensor and control uncertainty.
| Content Provider | CiteSeerX |
|---|---|
| Abstract | In future planetary exploration missions, rovers will be required to autonomously traverse challenging environments. Much of the previous work in robot motion planning cannot be successfully applied to the rough-terrain planning problem. A model-based planning method is presented in this paper that is computationally efficient and takes into account uncertainty in the robot model, terrain model, range sensor data, and rover path-following errors. It is based on rapid path planning through the visible terrain map with a simple graph-search algorithm, followed by a physics-based evaluation of the path with a rover model. Simulation results are presented which demonstrate the method’s effectiveness. 1 Introduction and Related Work |
| File Format | |
| Access Restriction | Open |
| Subject Keyword | Control Uncertainty Rapid Physics-based Rough-terrain Rover Planning Rover Model Account Uncertainty Future Planetary Exploration Mission Simulation Result Rapid Path Planning Related Work Rough-terrain Planning Problem Robot Motion Planning Cannot Terrain Model Model-based Planning Method Simple Graph-search Algorithm Previous Work Physics-based Evaluation Path-following Error Visible Terrain Map Method Effectiveness Range Sensor Data Robot Model |
| Content Type | Text |
| Resource Type | Article |
