Name
Title | ||
|---|---|---|
Vision-Based Behavior Planning for Lunar or Planetary Exploration Rover on Flat Surface. |
Abstract | ||
|---|---|---|
Lunar or planetary exploration rovers are expected to have the ability to move across an area as wide as possible in an unknown environment during a limited mission period. Hence, they need an efficient navigation method. Most of the surface of the moon or planets consists of flat ground, sand, and scattered rocks. In a simple flat sandy terrain with some rocks, rough route planning is sufficient for a lunar or planetary rover to avoid obstacles and reach an assigned point. This paper proposes an efficient vision-based planning scheme for exploration rovers on a flat surface with scattered obstacles. In the proposed scheme, dangerous areas are robustly extracted by processing image data, and the degree of danger is defined. A rough routing plan and sensing plan are simultaneously constructed based on the dangerous-area extraction results. The effectiveness of the proposed scheme is discussed based on the results of some simulations and simple experiments. |
Year | DOI | Venue |
|---|---|---|
2017 | 10.20965/jrm.2017.p0847 | JOURNAL OF ROBOTICS AND MECHATRONICS |
Keywords | Field | DocType |
behavior planning,route planning,environment recognition,sensing planning | Computer vision,Route planning,Computer science,Aerospace engineering,Vision based,Planetary exploration,Artificial intelligence | Journal |
Volume | Issue | ISSN |
29 | SP5 | 0915-3942 |
Citations | PageRank | References |
0 | 0.34 | 6 |
Authors | ||
3 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Riho Ejiri | 1 | 0 | 0.34 |
| Takashi Kubota | 2 | 30 | 9.84 |
| Ichiro Nakatani | 3 | 47 | 10.56 |