書誌事項
- タイトル別名
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- Path Planning for Exploration Rovers over Natural Terrain Described by Digital Elevation Map.
- エレベーションマップ ニ モトヅク フセイチ ニ オケル イドウ タンサ ローバ ノ ケイロ ケイカク
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説明
In recent years, rover missions for exploring lunar or planetary surface has been attracting much attention over the world, culminating the success of the Sojourner rover which explored the Martian surface in 1997.<BR>This paper proposes a new path planning method for navigation of planetary rovers, the surface environment of which is a natural terrain and described by a digital elevation map (DEM) . Given a DEM, a path from a start point to a goal is calculated based on the simple rover model which consists of three parameters. An obstacle map and a new concept of an extended elevation map defined in three dimensional space are introduced which provides the capability to use the DEM height information in three dimensional configuration space. With this extended elevation map, path planning is conducted by solving an optimization problem. Numerical simulations show the effectiveness of the proposed method.
収録刊行物
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- 日本ロボット学会誌
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日本ロボット学会誌 18 (7), 1019-1025, 2000
一般社団法人 日本ロボット学会
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詳細情報 詳細情報について
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- CRID
- 1390282679702331520
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- NII論文ID
- 10007545332
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- NII書誌ID
- AN00141189
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- ISSN
- 18847145
- 02891824
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- NDL書誌ID
- 5531328
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- NDLサーチ
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