Observatorio de I+D+i UPM

Memorias de investigación
Communications at congresses:
3D Path Planning using a Fuzzy Logic Navigational Map for Planetary Surface Rovers
Year:2011
Research Areas
  • Electric engineers, electronic and automatic (eil)
Information
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
International
Si
Congress
ASTRA 2011
960
Place
ESA/ESTEC, Noordwijk, the Netherlands
Reviewers
Si
ISBN/ISSN
Start Date
12/04/2011
End Date
14/04/2011
From page
1
To page
8
11th Symposium on Advanced Space Technologies in Robotics and Automation
Participants
  • Autor: Alejandro Garcia (Universidad Politécnica de Madrid)
  • Autor: Antonio Barrientos Cruz (UPM)
  • Autor: Alberto Medina (GMV)
  • Autor: Pablo Colmenarejo (GMV)
  • Autor: Luis Mollinedo (GMV - UPM)
  • Autor: Claudio Rossi (UPM)
Research Group, Departaments and Institutes related
  • Creador: Grupo de Investigación: Robótica y Cibernética
  • Centro o Instituto I+D+i: Centro de Automática y Robótica (CAR). Centro Mixto UPM-CSIC
  • Departamento: Automática, Ingeniería Electrónica e Informática Industrial
S2i 2020 Observatorio de investigación @ UPM con la colaboración del Consejo Social UPM
Cofinanciación del MINECO en el marco del Programa INNCIDE 2011 (OTR-2011-0236)
Cofinanciación del MINECO en el marco del Programa INNPACTO (IPT-020000-2010-22)