Physics-based planning for planetary exploration
作者： S. Farritor , H. Hacot , S. Dubowsky
DOI: 10.1109/ROBOT.1998.676399
关键词: Mars Exploration Program 、 Robot kinematics 、 Engineering 、 Energy consumption 、 Mobile robot 、 Intelligent control 、 Aerospace engineering 、 Motion planning 、 Genetic algorithm 、 Actuator
摘要: Recently a planetary rover returned important scientific information from Mars. More ambitious missions are planned. New planning methods required that allow rovers to explore challenging areas with high level of autonomy. This paper presents methodology based on physics-based model the and environment. Plans developed perform mission while explicitly considering constraints such as power, actuator, wheel slip, vehicle stability limits. Results obtained detailed simulations presented.
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