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3D Path planning using a fuzzy logic navigational map for Planetary Surface Rovers
Citation
Garcia, A. and Barrientos Cruz, Antonio and Medina, A. and Colmenarejo, P. and Mollinedo, L. and Rossi, Claudio (2011). 3D Path planning using a fuzzy logic navigational map for Planetary Surface Rovers. In: "ASTRA 2011", 12 – 14 April 2011, Noordwijk, the Netherlands.
Description
| Title: | 3D Path planning using a fuzzy logic navigational map for Planetary Surface Rovers |
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| Author/s: |
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| Item Type: | Presentation at Congress or Conference (Article) |
| Event Title: | ASTRA 2011 |
| Event Dates: | 12 – 14 April 2011 |
| Event Location: | Noordwijk, the Netherlands |
| Title of Book: | 11th Symposium on Advanced Space Technologies in Robotics and Automation |
| Date: | 12 April 2011 |
| Subjects: | |
| Faculty: | E.T.S.I. Industriales (UPM) |
| Department: | Automática, Ingeniería Electrónica e Informática Industrial [hasta 2014] |
| Creative Commons Licenses: | Recognition - Non commercial |
Abstract
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.
More information
| Item ID: | 9834 |
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| DC Identifier: | https://oa.upm.es/9834/ |
| OAI Identifier: | oai:oa.upm.es:9834 |
| Official URL: | http://robotics.estec.esa.int/ASTRA/Astra2011/Proceedings.pdf |
| Deposited by: | Antonio Barrientos |
| Deposited on: | 14 Dec 2011 15:40 |
| Last Modified: | 20 Apr 2016 18:07 |
