Fast and efficient terrain-aware motion planning for exploration rovers

Name: Fast and efficient terrain-aware motion planning for exploration rovers
Author: Uğur, Deniz, Bebek, Özkan

İsim	Fast and efficient terrain-aware motion planning for exploration rovers
Yazar	Uğur, Deniz, Bebek, Özkan
Basım Tarihi:	2021
Basım Yeri	- IEEE
Tür	Belge
Dil	İngilizce
Dijital	Evet
Yazma	Hayır
Kütüphane:	Özyeğin Üniversitesi
Demirbaş Numarası	978-166541873-7
Kayıt Numarası	fcb85101-37fa-4736-9963-d5010d9ce3b4
Lokasyon	Mechanical Engineering
Tarih	2021
Notlar	Ozyegin University
Örnek Metin	This paper presents a fast, energy-efficient, and low computational cost traversal solution on sloped terrain. The use of grid-based search algorithms requires high computational power and takes a long time because almost every point on the map is visited. An approach that does not depend on the global map but can also navigate towards the target can be presented as a new solution. A cost map for motion planning using depth field and color image data is formed in real-time. The proposed motion planning algorithm, named SAFARI, utilizes four cost layers to efficiently evaluate its surroundings. To reduce the computational overhead, only select features are evaluated and the rover's motion planning cycle speed is increased. SAFARI has been tested against path planning alternatives and has also been proven to work with simulations and field tests. This concept is expected to be used in space applications and cave exploration tasks.
DOI	10.1109/CASE49439.2021.9551617

Kaynağa git Özyeğin Üniversitesi

Aramaya Dön

Özyeğin Üniversitesi

Kaynağa git

Fast and efficient terrain-aware motion planning for exploration rovers

Yazar Uğur, Deniz, Bebek, Özkan

Basım Tarihi 2021

Basım Yeri - IEEE

Tür Belge

Dil İngilizce

Dijital Evet

Yazma Hayır

Kütüphane Özyeğin Üniversitesi

Demirbaş Numarası 978-166541873-7

Kayıt Numarası fcb85101-37fa-4736-9963-d5010d9ce3b4

Lokasyon Mechanical Engineering

Tarih 2021

Notlar Ozyegin University

Örnek Metin This paper presents a fast, energy-efficient, and low computational cost traversal solution on sloped terrain. The use of grid-based search algorithms requires high computational power and takes a long time because almost every point on the map is visited. An approach that does not depend on the global map but can also navigate towards the target can be presented as a new solution. A cost map for motion planning using depth field and color image data is formed in real-time. The proposed motion planning algorithm, named SAFARI, utilizes four cost layers to efficiently evaluate its surroundings. To reduce the computational overhead, only select features are evaluated and the rover's motion planning cycle speed is increased. SAFARI has been tested against path planning alternatives and has also been proven to work with simulations and field tests. This concept is expected to be used in space applications and cave exploration tasks.

DOI 10.1109/CASE49439.2021.9551617