Abstract
This paper presents the application of the Fast Marching Method, with or without an external vectorial field, to the path planning problem of robots in difficult outdoors environments. The resulting trajectory has to take into account the obstacles, the slope of the terrain (gradient of the height), the roughness (spherical variance) and the type of terrain (presence of sand) that can lead to slidings. When the robot is in sandy terrain with a certain slope, there is a landslide (usually small) that can be modelled as a lateral current or vectorial field in the direction of the negative gradient. Besides, the method calculates a weight matrix W that represents difficulty for the robot to move in certain terrain and is built based on the information extracted from the surface characteristics. Then, the Fast Marching Method is applied with matrix W being a velocities map. Finally, the algorithm has been modified to incorporate the effect of an external vectorial field.
This work is funded by the project number DPI2010-17772, by the Spanish Ministry of Science and Innovation, and also by RoboCity2030-II-CM project (S2009/DPI-1559), funded by Programas de Actividades I+D en la Comunidad de Madrid and co-funded by Structural Funds of the EU.
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Garrido, S., Álvarez, D., Moreno, L. (2016). Path Planning for Mars Rovers Using the Fast Marching Method. In: Reis, L., Moreira, A., Lima, P., Montano, L., Muñoz-Martinez, V. (eds) Robot 2015: Second Iberian Robotics Conference. Advances in Intelligent Systems and Computing, vol 417. Springer, Cham. https://doi.org/10.1007/978-3-319-27146-0_8
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