TY - GEN
T1 - Motion planning for mars rover
AU - Shiller, Zvi
N1 - Publisher Copyright:
© 1999 IEEE.
PY - 1999
Y1 - 1999
N2 - This paper presents an global-optimal motion planner for Mars Rover. It accounts for traversability and dynamic stability due to vehicle dynamics and terrain topography, A given path is traversable if along it the vehicle is statically stable. The vehicle is dynamically stable if its velocity does not exceed the velocity limit, determined from tip-over, sliding, and contact constraints. The cost function for the optimization consists of the path distance divided by the lowest velocity limit along the path. It produces paths that are traversable (and are hence dynamically stable) at the widest speed range.
AB - This paper presents an global-optimal motion planner for Mars Rover. It accounts for traversability and dynamic stability due to vehicle dynamics and terrain topography, A given path is traversable if along it the vehicle is statically stable. The vehicle is dynamically stable if its velocity does not exceed the velocity limit, determined from tip-over, sliding, and contact constraints. The cost function for the optimization consists of the path distance divided by the lowest velocity limit along the path. It produces paths that are traversable (and are hence dynamically stable) at the widest speed range.
UR - https://www.scopus.com/pages/publications/84947906691
U2 - 10.1109/ROMOCO.1999.791084
DO - 10.1109/ROMOCO.1999.791084
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AN - SCOPUS:84947906691
T3 - Proceedings of the 1st Workshop on Robot Motion and Control, RoMoCo 1999
SP - 257
EP - 262
BT - Proceedings of the 1st Workshop on Robot Motion and Control, RoMoCo 1999
A2 - Tchon, K.
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 1st Workshop on Robot Motion and Control, RoMoCo 1999
Y2 - 28 June 1999 through 29 June 1999
ER -