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3D Path planning using a fuzzy logic navigational map for Planetary Surface Rovers
Cita
Garcia, A., Barrientos Cruz, Antonio 
ORCID: https://orcid.org/0000-0003-1691-3907, Medina, A., Colmenarejo, P., Mollinedo, L. and Rossi, Claudio ORCID: https://orcid.org/0000-0002-8740-2453
(2011).
3D Path planning using a fuzzy logic navigational map for Planetary Surface Rovers.
En: "ASTRA 2011", 12 – 14 April 2011, Noordwijk, the Netherlands.
ORCID: https://orcid.org/0000-0003-1691-3907, Medina, A., Colmenarejo, P., Mollinedo, L. and Rossi, Claudio ORCID: https://orcid.org/0000-0002-8740-2453
(2011).
3D Path planning using a fuzzy logic navigational map for Planetary Surface Rovers.
En: "ASTRA 2011", 12 – 14 April 2011, Noordwijk, the Netherlands.
Descripción
| Título: | 3D Path planning using a fuzzy logic navigational map for Planetary Surface Rovers |
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| Autor/es: |
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| Tipo de Documento: | Ponencia en Congreso o Jornada (Artículo) |
| Título del Evento: | ASTRA 2011 |
| Fechas del Evento: | 12 – 14 April 2011 |
| Lugar del Evento: | Noordwijk, the Netherlands |
| Título del Libro: | 11th Symposium on Advanced Space Technologies in Robotics and Automation |
| Fecha: | 12 Abril 2011 |
| Materias: | |
| ODS: | |
| Escuela: | E.T.S.I. Industriales (UPM) |
| Departamento: | Automática, Ingeniería Electrónica e Informática Industrial [hasta 2014] |
| Licencias Creative Commons: | Reconocimiento - No comercial |
Resumen
This work proposes an innovative app
navigation path-planning problem
exploration rovers by including terrain characteristics.
The objective is to enhance the typical 2D arithmetical
cost function by adding 3D information computed from
the laser-scanned terrain such as terrain height, slopes,
shadows, orientation and terrain roughness.
This paper describes the algorithm developed by UPM
and GMV and the tests made at the GMV outdoor test
facilities using the Moon-Hound rover. This rover is a
50 Kg rover including a Sick laser mounted on a
pan&tilt unit for generation of 3D Digital Elevation
Models (DEM’s). Experimental results have shown the
effectiveness of the proposed approach.
Más información
| ID de Registro: | 9834 |
|---|---|
| Identificador DC: | https://oa.upm.es/9834/ |
| Identificador OAI: | oai:oa.upm.es:9834 |
| URL Oficial: | http://robotics.estec.esa.int/ASTRA/Astra2011/Proc... |
| Depositado por: | Antonio Barrientos |
| Depositado el: | 14 Dic 2011 15:40 |
| Ultima Modificación: | 20 Abr 2016 18:07 |
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