Physics-based planning for planetary exploration

被引：0
|
作者：
Farritor, S [1 ]
Hacot, H [1 ]
Dubowsky, S [1 ]
机构：
[1] MIT, Dept Mech Engn, Cambridge, MA 02139 USA
来源：
1998 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-4 | 1998年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Recently a planetary rover returned important scientific information from Mars. More ambitious missions are planned. New planning methods are required that allow revers 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.
引用
收藏
页码：278 / 283
页数：2
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