A Comparison of Two Path Planners for Planetary Rovers

Details A Comparison of Two Path Planners for Planetary Rovers A Comparison of Two Path Planners for Planetary Rovers

Jan 1999

adsabs.harvard.edu/cgi-bin/nph-data_query?bibcode=1999stin...0054887t&link_type=abstract

Technical Report, Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA United States

Computer Science

Roving Vehicles, Terrain, Genetic Algorithms, Trajectory Planning, Trajectory Optimization, Flight Optimization, Static Stability

Scientific paper

The paper presents two path planners suitable for planetary rovers. The first is based on fuzzy description of the terrain, and genetic algorithm to find a traversable path in a rugged terrain. The second planner uses a global optimization method with a cost function that is the path distance divided by the velocity limit obtained from the consideration of the rover static and dynamic stability. A description of both methods is provided, and the results of paths produced are given which show the effectiveness of the path planners in finding near optimal paths. The features of the methods and their suitability and application for rover path planning are compared

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