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Path Planning and Navigation Framework for a Planetary Exploration Rover Using a Laser Range Finder

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Field and Service Robotics

Part of the book series: Springer Tracts in Advanced Robotics ((STAR,volume 92))

Abstract

This chapter presents a path planning and navigation framework for a planetary exploration rover and its experimental tests at a Lunar/Martian analog site. The framework developed in this work employs a laser range finder (LRF) for terrain feature mapping. The path planning algorithm generates a feasible path based on a cost function consisting of terrain inclination, terrain roughness, and path length. A set of navigation commands for the rover is then computed from the generated path. The rover executes those navigation commands to reach a desired goal. In this paper, a terrain mapping technique that uses a LRF is described along with an introduction to a cylindrical coordinate digital elevation map (\(\text {C}^2\)DEM). The gird-based path planning algorithm is also presented. Field experiments regarding the path planning and navigation that evaluate the feasibility of the framework developed in this work are reported.

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Author information

Authors and Affiliations

  1. Dept. of Mechanical Engineering, Keio University, Yokohama, Kanagawa, Japan

    Genya Ishigami

  2. Institute of Space and Astronautical Science, Japan Aerospace Exploration Agency, Sagamihara, Kanagawa, Japan

    Masatsugu Otsuki & Takashi Kubota

Authors
  1. Genya Ishigami
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  2. Masatsugu Otsuki
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  3. Takashi Kubota
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Corresponding author

Correspondence to Genya Ishigami .

Editor information

Editors and Affiliations

  1. Department of Aerospace Engineering, Tohoku University, Sendai, Japan

    Kazuya Yoshida

  2. Tohoku University Graduate School of Information Sciences, Sendai, Japan

    Satoshi Tadokoro

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Ishigami, G., Otsuki, M., Kubota, T. (2014). Path Planning and Navigation Framework for a Planetary Exploration Rover Using a Laser Range Finder. In: Yoshida, K., Tadokoro, S. (eds) Field and Service Robotics. Springer Tracts in Advanced Robotics, vol 92. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-40686-7_29

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  • DOI: https://doi.org/10.1007/978-3-642-40686-7_29

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-40685-0

  • Online ISBN: 978-3-642-40686-7

  • eBook Packages: EngineeringEngineering (R0)

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