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

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dc.contributor.author Garrido Bullón, Luis Santiago
dc.contributor.author Álvarez Sánchez, David
dc.contributor.author Martín Monar, Fernando
dc.contributor.author Moreno Lorente, Luis Enrique
dc.date.accessioned 2022-01-19T09:41:59Z
dc.date.available 2022-01-19T09:41:59Z
dc.date.issued 2019-07-01
dc.identifier.bibliographicCitation Garrido, 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.
dc.identifier.issn 0885-8985
dc.identifier.uri http://hdl.handle.net/10016/33909
dc.description.abstract 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.
dc.description.sponsorship This 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)".
dc.format.extent 12
dc.language.iso eng
dc.publisher IEEE
dc.rights © 2019, IEEE.
dc.subject.other Aerospace robotics
dc.subject.other Mars
dc.subject.other Mobile robots
dc.subject.other Path planning
dc.subject.other Planetary rovers
dc.subject.other Trajectory optimisation (aerospace)
dc.title An anisotropic fast marching method applied to path planning for Mars rovers
dc.type article
dc.subject.eciencia Robótica e Informática Industrial
dc.identifier.doi https://doi.org/10.1109/MAES.2019.2924124
dc.rights.accessRights openAccess
dc.relation.projectID Comunidad de Madrid. S2013/MIT-2748
dc.type.version acceptedVersion
dc.identifier.publicationfirstpage 6
dc.identifier.publicationissue 7
dc.identifier.publicationlastpage 17
dc.identifier.publicationtitle IEEE Aerospace and Electronic Systems Magazine
dc.identifier.publicationvolume 34
dc.identifier.uxxi AR/0000024958
dc.contributor.funder Comunidad de Madrid
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