Improving Autonomous Rover Guidance in Round-Trip Missions Using a Dynamic Cost Map

Delgado, Gonzalo Jesús Paz; Azkarate, Martín; Sánchez‐Ibáñez, José Ricardo; Pérez-del-Pulgar, Carlos Jesús; Gerdes, Levin; García-Cerezo, Alfonso J.

doi:10.1109/iros45743.2020.9340912

Cited by 3 publications

(2 citation statements)

References 10 publications

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“…First of all, the cost map of the scenario was generated by processing a 2cm resolution Digital Elevation Map (DEM) of the PRL. This cost map considers obstacles, slopes and roughness, for more information about the cost map generation see [30]. The tests time horizon t N was 160 s, with a time step t of 0.8 s. For the motion planner to converge, the maximum allowed position error was set-up to 1 cm and the orientation error to 10 • .…”

Section: Methodsmentioning

confidence: 99%

Multi-stage warm started optimal motion planning for over-actuated mobile platforms

Delgado

Pérez-del-Pulgar

Azkarate

et al. 2023

Intel Serv Robotics

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This work presents a computationally lightweight motion planner for over-actuated platforms. For this purpose, a general state-space model for mobile platforms with several kinematic chains is defined, which considers dynamics, nonlinearities and constraints. The proposed motion planner is based on a sequential multi-stage approach that takes advantage of the warm start on each step. Firstly, a globally optimal and smooth 2D/3D trajectory is generated using the Fast Marching Method. This trajectory is fed as a warm start to a sequential linear quadratic regulator that is able to generate an optimal motion plan without constraints for all the platform actuators. Finally, a feasible motion plan is generated considering the constraints defined in the model. In this respect, the sequential linear quadratic regulator is employed again, taking the previously generated unconstrained motion plan as a warm start. The motion planner has been deployed into the Exomars Testing Rover of the European Space Agency. This rover is an Ackermann-capable planetary exploration testbed that is equipped with a robotic arm. Several experiments were carried out demonstrating that the proposed approach speeds up the computation time and increases the success ratio for a martian sample retrieval mission, which can be considered as a representative use case of goal-constrained trajectory generation for an over-actuated mobile platform.

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Section: Methodsmentioning

confidence: 99%

Multi-stage warm started optimal motion planning for over-actuated mobile platforms

Delgado

Pérez-del-Pulgar

Azkarate

et al. 2023

Intel Serv Robotics

View full text Add to dashboard Cite

show abstract

“…Ugur and Bebek [23] presented the motion planning of the exploration rover based on a real-time cost map using a depth field and color image data to pass through rugged terrain. Similarly, a study [24] proposed an approach that divides terrain into paths, and assigns each of paths with a cost for path planning in a mars-like environment. In an indoor environment, a robot created a 3D-octomap using wheel odometry, 2D laser, and RGB-D camera to pass through the terrain so that the robot moves up and down the slope, avoiding the stairs, arriving at a set destination [25].…”

Section: Related Workmentioning

confidence: 99%

Layered-Cost-Map-Based Traffic Management for Multiple AMRs via a DDS

Jeong

Inhwan³

et al. 2022

Applied Sciences

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A traffic management system can be used to control multiple automated mobile robots (AMRs) effectively. This paper proposes traffic management for multiple AMRs based on a layered cost map in ROS 2 for multiple purposes. Using the layered cost map, the new concepts of a prohibition filter, lane filter, fleet layer, and region filter are proposed and implemented. The prohibition filter can help a user set an area that would prohibit an AMR from trespassing. The lane filter can help set one-way directions based on an angle image. The fleet layer can help AMRs share their locations via the traffic management server. The region filter requests for or receives an exclusive area, which can be occupied by only one AMR from the traffic management server. Multiple AMRs communicate via a data distribution service (DDS), which is shared by topics in the same DDS domain. The traffic management server in the domain sends or receives topics to each of the AMRs. The experiments of AMRs under the proposed traffic management show the effectiveness of our approach.

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High-fidelity Software-in-the-loop Simulation of a Six-wheel Lunar Rover using Vortex Studio for Output-tracking Control Design

Mottaghi

Chhabra

Huang

2023

2023 IEEE Aerospace Conference

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Improving Autonomous Rover Guidance in Round-Trip Missions Using a Dynamic Cost Map

Cited by 3 publications

References 10 publications

Multi-stage warm started optimal motion planning for over-actuated mobile platforms

Multi-stage warm started optimal motion planning for over-actuated mobile platforms

Layered-Cost-Map-Based Traffic Management for Multiple AMRs via a DDS

High-fidelity Software-in-the-loop Simulation of a Six-wheel Lunar Rover using Vortex Studio for Output-tracking Control Design

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