Path planning for reconfigurable rovers in planetary exploration

Journal of Field Robotics

et al. 2020

Rovers operating on Mars require more and more autonomous features to fulfill their challenging mission requirements. However, the inherent constraints of space systems render the implementation of complex algorithms an expensive and difficult task. In this paper, we propose an architecture for autonomous navigation. Efficient implementations of autonomous features are built on top of the ExoMars path following navigation approach to enhance the safety and traversing capabilities of the rover. These features allow the rover to detect and avoid hazards and perform significantly longer traverses planned by operators on the ground. The efficient navigation approach has been implemented and tested during field test campaigns on a planetary analogue terrain. The experiments evaluated the proposed architecture by autonomously completing several traverses of variable lengths while avoiding hazards. The approach relies only on the optical Localization Cameras stereo bench, a sensor that is found in all current rovers, and potentially allows for computationally inexpensive long‐range autonomous navigation in terrains of medium difficulty.

Section: Methodsmentioning

confidence: 99%

Efficient autonomous navigation for planetary rovers with limited resources

Gerdes

Azkarate

Journal of Field Robotics

et al. 2020

“…In the case of global planning, Rohmer et al [ 47 ] used a Graph Search algorithm, Dijkstra, to first produce a path and later, via simulation tools, evaluate which locomotion mode is better to drive each of its parts. We, the authors of this review publication, proposed the use of a PDE Solving method to consider the multiple locomotion modes at the time of planning using an isotropic cost function [ 48 , 49 ]. To the authors’ knowledge there are not many existing Local Planning approaches addressing the kinodynamic constraints of robots with multiple locomotion modes.…”

Section: Path Planning Algorithmsmentioning

confidence: 99%

Path Planning for Autonomous Mobile Robots: A Review

Pérez-del-Pulgar

García-Cerezo

2021

Sensors

198

Providing mobile robots with autonomous capabilities is advantageous. It allows one to dispense with the intervention of human operators, which may prove beneficial in economic and safety terms. Autonomy requires, in most cases, the use of path planners that enable the robot to deliberate about how to move from its location at one moment to another. Looking for the most appropriate path planning algorithm according to the requirements imposed by users can be challenging, given the overwhelming number of approaches that exist in the literature. Moreover, the past review works analyzed here cover only some of these approaches, missing important ones. For this reason, our paper aims to serve as a starting point for a clear and comprehensive overview of the research to date. It introduces a global classification of path planning algorithms, with a focus on those approaches used along with autonomous ground vehicles, but is also extendable to other robots moving on surfaces, such as autonomous boats. Moreover, the models used to represent the environment, together with the robot mobility and dynamics, are also addressed from the perspective of path planning. Each of the path planning categories presented in the classification is disclosed and analyzed, and a discussion about their applicability is added at the end.

“…(2019) shed light on the problematic of estimating terramechanic parameters in advance using thermal images. This may prove useful to estimate as well the performance of certain locomotion modes by using models previously defined, such as those created 205 in a previous work (Pérez-del Pulgar et al, 2017). Secondly, the Local Layer employs information relative to the obstacles detected by the rover during its traverse.…”

mentioning

confidence: 99%

“…The Power function P in Equation (2) considers the use of rovers with reconfiguration capability, providing the value of the instantaneous power depending on the locomotion mode l, the type of terrain τ ij and the value v of speed used. It can be built upon models and/or experimentation such as in the work of Pérez-del Pulgar et al (2017). Locomotion mode chosen to traverse the Global Node N ij , l ij , is the one that makes C ij take the minimum value and is contained in the set L of all the available modes in the rover.…”

mentioning

confidence: 99%

“…values of C ij for each Global Node N ij are chosen according to theTable 1, depending on the type of terrain and the chosen locomotion mode. These values come from previous work(Pérez-del Pulgar et al, 2017), in which simulation models were used 570 to analyze the power consumption of each locomotion mode. Two terrain parameters were considered for this purpose: µ and s. First of them depends…”

mentioning

confidence: 99%

See 1 more Smart Citation

Dynamic path planning for reconfigurable rovers using a multi-layered grid

Engineering Applications of Artificial Intelligence

Pérez-del-Pulgar

Azkarate

et al. 2019

Autonomy on rovers is desirable in order to extend the traversed distance, and therefore, maximize the number of places visited during the mission. It depends heavily on the information that is available for the traversed surface on other planet. This information may come from the vehicle's sensors as well as from orbital images. Besides, future exploration missions may consider the use of reconfigurable rovers, which are able to execute multiple locomotion modes to better adapt to different terrains. With these considerations, a path planning algorithm based on the Fast Marching Method is proposed. Environment information coming from different sources is used on a grid formed by two layers. First, the Global Layer with a low resolution, but high extension is used to compute the overall path connecting the rover and the desired goal, using a cost function that takes advantage of the rover locomotion modes. Second, the Local Layer with higher resolution but limited distance is used where the path is dynamically repaired because of obstacle presence. Finally, we show simulation and field test results based on several reconfigurable and non-reconfigurable rover prototypes and a experimental terrain.