Path Planning for Planetary Exploration Rovers and Its Evaluation based on Wheel Slip Dynamics

— In this paper, a path planning and its evaluation method is described with taking into account wheel slip dynamics of lunar/planetary exploration rovers. The surface of the planetary body is largely covered with powdery soil. On such loose soil, the wheel slippage which will make the rover get stuck must be concerned. Since the slippage dynamically depends on the posture/velocity of vehicle, soil characteristics, and wheel-soil interactions, it becomes difficult issues to incorporate the wheel slip dynamics as a criterion into path-planning algorithms. To tackle the slippage problem, the authors develop the path-planning algorithm and the path-evaluation method based on the following approach. First, a path on a rough terrain is generated with the terrain-based criteria function. Subsequently, the dynamics simulation of a rover is carried out in which the rover is controlled to follow the candidate path. Finally, the path is properly evaluated based on the slip motion profiles ca...

• Type: Conference
• Year: 2007
• Where: ICRA
• Authors: Genya Ishigami, Keiji Nagatani, Kazuya Yoshida
• Keywords: ICRA 2007, Path-planning Algorithm, Robotics, Slip Motion Profile, Wheel Slip Dynamics