Vision-Based Behavior Planning for Lunar or Planetary Exploration Rover on Flat Surface
| Autor: | Takashi Kubota, Ichiro Nakatani, Riho Ejiri |
|---|---|
| Rok vydání: | 2017 |
| Předmět: |
0209 industrial biotechnology
General Computer Science Flat surface Vision based business.industry Computer science 02 engineering and technology 020901 industrial engineering & automation 0202 electrical engineering electronic engineering information engineering 020201 artificial intelligence & image processing Computer vision Artificial intelligence Electrical and Electronic Engineering Aerospace engineering business Route planning Planetary exploration |
| Zdroj: | Journal of Robotics and Mechatronics. 29:847-855 |
| ISSN: | 1883-8049 0915-3942 |
| DOI: | 10.20965/jrm.2017.p0847 |
| Popis: | 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. |
| Databáze: | OpenAIRE |
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