Physics-based planning for planetary exploration

S. Farritor, H. Hacot, S. Dubowsky

Research output: Chapter in Book/Report/Conference proceedingConference contribution

58 Scopus citations

Abstract

Recently a planetary rover returned important scientific information from Mars More ambitious missions are planned. New planning methods are required that allow rovers to explore challenging areas with a high level of autonomy. This paper presents a planning methodology based on a physics-based model of the rover and environment. Plans are developed that allow a rover to perform a mission while explicitly considering constraints such as power, actuator, wheel slip, and vehicle stability limits. Results obtained from detailed rover simulations are presented.

Original languageEnglish (US)
Title of host publicationProceedings - 1998 IEEE International Conference on Robotics and Automation, ICRA 1998
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages278-283
Number of pages6
ISBN (Print)078034300X
DOIs
Publication statusPublished - Jan 1 1998
Event15th IEEE International Conference on Robotics and Automation, ICRA 1998 - Leuven, Belgium
Duration: May 16 1998May 20 1998

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume1
ISSN (Print)1050-4729

Conference

Conference15th IEEE International Conference on Robotics and Automation, ICRA 1998
CountryBelgium
CityLeuven
Period5/16/985/20/98

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ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

Cite this

Farritor, S., Hacot, H., & Dubowsky, S. (1998). Physics-based planning for planetary exploration. In Proceedings - 1998 IEEE International Conference on Robotics and Automation, ICRA 1998 (pp. 278-283). [676399] (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 1). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROBOT.1998.676399