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Descripción
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| 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 | |
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Internacional
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Si |
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Nombre congreso
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ASTRA 2011 |
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Tipo de participación
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960 |
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Lugar del congreso
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ESA/ESTEC, Noordwijk, the Netherlands |
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Revisores
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Si |
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ISBN o ISSN
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DOI
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Fecha inicio congreso
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12/04/2011 |
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Fecha fin congreso
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14/04/2011 |
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Desde la página
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1 |
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Hasta la página
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8 |
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Título de las actas
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11th Symposium on Advanced Space Technologies in Robotics and Automation |