An Anisotropic Fast Marching Method Applied to Path Planning for Mars Rovers

作     者：Garrido, Santiago Alvarez, David Martin, Fernando Moreno, Luis 

作者机构：Univ Carlos III Madrid Dept Syst & Automat RoboticsLab Leganes 28911 Spain 

出 版 物：《IEEE AEROSPACE AND ELECTRONIC SYSTEMS MAGAZINE》 (IEEE航空航天与电子系统杂志)

年 卷 期：2019年第34卷第7期

页      面：6-17页

核心收录：

学科分类：0808[工学-电气工程] 08[工学] 0825[工学-航空宇航科学与技术] 

基　　金：project: RoboCity2030-III-CM project (Robotica aplicada a la mejora de la calidad de vida de los ciudadanos. fase III) [S2013/MIT-2748] project: Programas de Actividades I +D en la Comunidad de Madrid EU project: Investigacion para la mejora competitiva del ciclo de perforacion y voladura en mineria y obras subterraneas, mediante la concepcion de nuevas tecnicas de ingenieria, explosivos, prototipos y herramientas avanzadas (TUeNEL) 

主　　题：Path planning Space vehicles Mobile robots Trajectory Mars Space vehicles Intelligent systems 

摘      要：This paper presents the application of the Anisotropic Fast Marching Method to the path planning problem of mobile robots moving in outdoors environments, such as Mars. Considering that at any point on a 3D surface there are two main slopes: the maximum, which is the slope of the gradient, and the minimum, the height map of a terrain can be considered as a tensor filed. Using the Anisotropic Fast Marching Method, the resulting trajectory of the path planning takes the tensor field into account so that the slopes in the trajectory are minimized. Numerical simulations are presented to show the advantage of this method over its isotropic version. Besides, the influence of the anisotropic index and the traversability of the resultant paths are analyzed.