Path Planning for Planetary Exploration Rovers and Its Evaluation based on Wheel Slip Dynamics

Abstract

Abstract-In this paper, a path planning and its evaluation method is described with taking into account wheel slip dynamics of lunar/planetary exploration rovers. The surface of the planetary body is largely covered with powdery soil. On such loose soil, the wheel slippage which will make the rover get stuck must be concerned. Since the slippage dynamically depends on the posture/velocity of vehicle, soil characteristics, and wheel-soil interactions, it becomes difficult issues to incorporate the wheel slip dynamics as a criterion into path-planning algorithms. To tackle the slippage problem, the authors develop the path-planning algorithm and the path-evaluation method based on the following approach. First, a path on a rough terrain is generated with the terrain-based criteria function. Subsequently, the dynamics simulation of a rover is carried out in which the rover is controlled to follow the candidate path. Finally, the path is properly evaluated based on the slip motion profiles calculated by the simulation. Demonstrations for the proposed technique are addressed along with a discussion on characteristics of the candidate path and the slip motion profile of the rover.

Advances in Simulation of Planetary Wheeled Mobile Robots

“…Dynamics simulation was carried out by controlling the rover to follow the candidate paths for evaluation, as shown in Fig. 4 (Ishigami et al, 2007). …”

Wheeled-Robot Navigation With Velocity Updating on Rough Terrains

“…Seraji and Howard (2002) assess the navigation strategy with the terrain's features of roughness, slopes and discontinuity. Ishigami et al (2007) generate a path over a rough terrain with a terrainbased criterion function, and then the robot is controlled so as to move on the chosen path. In Brooks and Iagnemma (2009) do roughness recognition by using artificial vision, so recognition of novel textures is later to off-line recognition training from sample texture.…”

Path Planning and Execution for Planetary Exploration Rovers Based on 3D Mapping

“…A candidate path, can now be generated by the Local path planner within this map space free χ f ree at the set χ wspace (Ishigami et al, 2007). It only remains necessary to select an appropriate location that serves as a goal within the LDEM.…”