Sensing position planning for lunar exploration rovers
In this paper, the authors present a novel criterion for path planning based on the visibility index caused by obstacles detected through laser range sensors when exploring lunar craters. The proposed path planning algorithm calculates an index based on terrain roughness, path length and occlusion,...
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| creator | Mora, A. Ishigami, G. Nagatani, K. Yoshida, K. |
| description | In this paper, the authors present a novel criterion for path planning based on the visibility index caused by obstacles detected through laser range sensors when exploring lunar craters. The proposed path planning algorithm calculates an index based on terrain roughness, path length and occlusion, and determines the areas where obstacles may limit the visibility of the area where the rover must go next. The derivation of the visibility index is explained in detail and the algorithm steps are described throughly. Simulations were carried out in order to test the proposed algorithm and a results are presented. |
| doi_str_mv | 10.1109/ICMA.2008.4798847 |
| format | Conference Proceeding |
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The proposed path planning algorithm calculates an index based on terrain roughness, path length and occlusion, and determines the areas where obstacles may limit the visibility of the area where the rover must go next. The derivation of the visibility index is explained in detail and the algorithm steps are described throughly. Simulations were carried out in order to test the proposed algorithm and a results are presented.</description><identifier>ISSN: 2152-7431</identifier><identifier>ISBN: 1424426316</identifier><identifier>ISBN: 9781424426317</identifier><identifier>EISSN: 2152-744X</identifier><identifier>EISBN: 9781424426324</identifier><identifier>EISBN: 1424426324</identifier><identifier>DOI: 10.1109/ICMA.2008.4798847</identifier><identifier>LCCN: 2008904875</identifier><language>eng</language><publisher>IEEE</publisher><subject>Laser radar ; Mobile robots ; Moon ; Navigation ; Orbital robotics ; Path planning ; Robot sensing systems ; Satellites ; Surface topography ; Testing</subject><ispartof>2008 IEEE International Conference on Mechatronics and Automation, 2008, p.732-737</ispartof><woscitedreferencessubscribed>false</woscitedreferencessubscribed></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://ieeexplore.ieee.org/document/4798847$$EHTML$$P50$$Gieee$$H</linktohtml><link.rule.ids>309,310,776,780,785,786,2052,27902,54895</link.rule.ids><linktorsrc>$$Uhttps://ieeexplore.ieee.org/document/4798847$$EView_record_in_IEEE$$FView_record_in_$$GIEEE</linktorsrc></links><search><creatorcontrib>Mora, A.</creatorcontrib><creatorcontrib>Ishigami, G.</creatorcontrib><creatorcontrib>Nagatani, K.</creatorcontrib><creatorcontrib>Yoshida, K.</creatorcontrib><title>Sensing position planning for lunar exploration rovers</title><title>2008 IEEE International Conference on Mechatronics and Automation</title><addtitle>ICMA</addtitle><description>In this paper, the authors present a novel criterion for path planning based on the visibility index caused by obstacles detected through laser range sensors when exploring lunar craters. The proposed path planning algorithm calculates an index based on terrain roughness, path length and occlusion, and determines the areas where obstacles may limit the visibility of the area where the rover must go next. The derivation of the visibility index is explained in detail and the algorithm steps are described throughly. Simulations were carried out in order to test the proposed algorithm and a results are presented.</description><subject>Laser radar</subject><subject>Mobile robots</subject><subject>Moon</subject><subject>Navigation</subject><subject>Orbital robotics</subject><subject>Path planning</subject><subject>Robot sensing systems</subject><subject>Satellites</subject><subject>Surface topography</subject><subject>Testing</subject><issn>2152-7431</issn><issn>2152-744X</issn><isbn>1424426316</isbn><isbn>9781424426317</isbn><isbn>9781424426324</isbn><isbn>1424426324</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>2008</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><sourceid>RIE</sourceid><recordid>eNo9kMtOwzAURM2jEm3JByA2-YEE2_f6tawiHpWKWNAFu8pNblBQcCK7IPh7KBRmM9Ic6SyGsQvBSyG4u1pW94tScm5LNM5aNEcsc8YKlIhSg8RjNpVCycIgPp2w2R8Q-vQfgJiw2d7hOFqjzliW0gv_DipQGqdMP1JIXXjOxyF1u24I-dj7EPZLO8S8fws-5vQx9kP0PzgO7xTTOZu0vk-UHXrO1jfX6-quWD3cLqvFqugc3xVGaw_ec7COVItAQjfka48eEbAm4VBDa41oQCrF623dGs3VlmrjZKMA5uzyV9sR0WaM3auPn5vDHfAFMhBNFQ</recordid><startdate>200808</startdate><enddate>200808</enddate><creator>Mora, A.</creator><creator>Ishigami, G.</creator><creator>Nagatani, K.</creator><creator>Yoshida, K.</creator><general>IEEE</general><scope>6IE</scope><scope>6IL</scope><scope>CBEJK</scope><scope>RIE</scope><scope>RIL</scope></search><sort><creationdate>200808</creationdate><title>Sensing position planning for lunar exploration rovers</title><author>Mora, A. ; Ishigami, G. ; Nagatani, K. ; Yoshida, K.</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-i90t-766a3aa0389e5f43e16deaca4a4434ce19463f871d32550cbcf7605bec792d533</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>2008</creationdate><topic>Laser radar</topic><topic>Mobile robots</topic><topic>Moon</topic><topic>Navigation</topic><topic>Orbital robotics</topic><topic>Path planning</topic><topic>Robot sensing systems</topic><topic>Satellites</topic><topic>Surface topography</topic><topic>Testing</topic><toplevel>online_resources</toplevel><creatorcontrib>Mora, A.</creatorcontrib><creatorcontrib>Ishigami, G.</creatorcontrib><creatorcontrib>Nagatani, K.</creatorcontrib><creatorcontrib>Yoshida, K.</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan All Online (POP All Online) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE Electronic Library (IEL)</collection><collection>IEEE Proceedings Order Plans (POP All) 1998-Present</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Mora, A.</au><au>Ishigami, G.</au><au>Nagatani, K.</au><au>Yoshida, K.</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>Sensing position planning for lunar exploration rovers</atitle><btitle>2008 IEEE International Conference on Mechatronics and Automation</btitle><stitle>ICMA</stitle><date>2008-08</date><risdate>2008</risdate><spage>732</spage><epage>737</epage><pages>732-737</pages><issn>2152-7431</issn><eissn>2152-744X</eissn><isbn>1424426316</isbn><isbn>9781424426317</isbn><eisbn>9781424426324</eisbn><eisbn>1424426324</eisbn><abstract>In this paper, the authors present a novel criterion for path planning based on the visibility index caused by obstacles detected through laser range sensors when exploring lunar craters. The proposed path planning algorithm calculates an index based on terrain roughness, path length and occlusion, and determines the areas where obstacles may limit the visibility of the area where the rover must go next. The derivation of the visibility index is explained in detail and the algorithm steps are described throughly. Simulations were carried out in order to test the proposed algorithm and a results are presented.</abstract><pub>IEEE</pub><doi>10.1109/ICMA.2008.4798847</doi><tpages>6</tpages></addata></record> |
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| source | IEEE Electronic Library (IEL) Conference Proceedings |
| subjects | Laser radar Mobile robots Moon Navigation Orbital robotics Path planning Robot sensing systems Satellites Surface topography Testing |
| title | Sensing position planning for lunar exploration rovers |
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