Mathematics
Scientific paper
Jan 1993
adsabs.harvard.edu/cgi-bin/nph-data_query?bibcode=1993dpmv.book..499m&link_type=abstract
In CNES, Missions, Technologies, and Design of Planetary Mobile Vehicles p 499-507 (SEE N94-23373 06-91)
Mathematics
Algorithms, Planetary Surfaces, Roving Vehicles, Topography, Trajectory Optimization, Trajectory Planning, Elevation Angle, Graph Theory, Mathematical Models, Robots, Saddle Points
Scientific paper
Algorithms that automatically find the feasible routes for a mobile robot in a partially known three dimensional environment are proposed. The system is especially devised keeping in mind a planetary rover mission. Starting with a low resolution digital terrain model (DTM), relevant points (saddle points) of the relief are first automatically extracted and a connected network of traversable lines is constructed in a 'structuralist' way: the starting points for the algorithm are the saddle points; the criteria, taking into account the smoothness and the slope of the constructed line, are used to compute the network iteratively. Lines and points of this network are used as arcs and nodes to create a search graph on which an A(star) algorithm is applied to find the optimal route minimizing traveling time or energy while insuring safety. This edge constrained solution serves to initiate shortcut finding laws allowing the vehicle to cross the regions bounded by the lines of the network. The motion across each region is characterized by a cost function computed from the elevation data: mean slope roughness. Examples using a 1000 by 1000 pixel DTM are given.
Liegeois A.
Morlans R.
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