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An anisotropic fast marching method applied to path planning for Mars rovers

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dc.affiliation.dptoUC3M. Departamento de Ingeniería de Sistemas y Automáticaes
dc.affiliation.grupoinvUC3M. Grupo de Investigación: Laboratorio de Robótica (Robotics Lab)es
dc.contributor.authorGarrido Bullón, Luis Santiago
dc.contributor.authorÁlvarez Sánchez, David
dc.contributor.authorMartín Monar, Fernando
dc.contributor.authorMoreno Lorente, Luis Enrique
dc.contributor.funderComunidad de Madrides
dc.date.accessioned2022-01-19T09:41:59Z
dc.date.available2022-01-19T09:41:59Z
dc.date.issued2019-07-01
dc.description.abstractThis 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.en
dc.description.sponsorshipThis work was supported in part by the projects: "RoboCity2030-III-CM project (Robótica aplicada a la mejora de la calidad de vida de los ciudadanos. fase III; S2013/MIT-2748), in part by Programas de Actividades I+D en la Comunidad de Madrid and cofunded by Structural Funds of the EU" and in part by "Investigación para la mejora competitiva del ciclo de perforación y voladura en minería y obras subterráneas, mediante la concepción de nuevas técnicas de ingeniería, explosivos, prototipos y herramientas avanzadas (TUÑEL)".en
dc.format.extent12
dc.identifier.bibliographicCitationGarrido, S., Alvarez, D., Martin, F. & Moreno, L. (2019). An Anisotropic Fast Marching Method Applied to Path Planning for Mars Rovers. IEEE Aerospace and Electronic Systems Magazine, 34(7), 6–17.en
dc.identifier.doihttps://doi.org/10.1109/MAES.2019.2924124
dc.identifier.issn0885-8985
dc.identifier.publicationfirstpage6
dc.identifier.publicationissue7
dc.identifier.publicationlastpage17
dc.identifier.publicationtitleIEEE Aerospace and Electronic Systems Magazineen
dc.identifier.publicationvolume34
dc.identifier.urihttps://hdl.handle.net/10016/33909
dc.identifier.uxxiAR/0000024958
dc.language.isoengen
dc.publisherIEEEen
dc.relation.projectIDComunidad de Madrid. S2013/MIT-2748es
dc.rights© 2019, IEEE.en
dc.rights.accessRightsopen accessen
dc.subject.ecienciaRobótica e Informática Industriales
dc.subject.otherAerospace roboticsen
dc.subject.otherMarsen
dc.subject.otherMobile robotsen
dc.subject.otherPath planningen
dc.subject.otherPlanetary roversen
dc.subject.otherTrajectory optimisation (aerospace)en
dc.titleAn anisotropic fast marching method applied to path planning for Mars roversen
dc.typeresearch article*
dc.type.hasVersionAM*
dspace.entity.typePublication
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