Garrido Bullón, Luis SantiagoÁlvarez Sánchez, DavidMartín Monar, FernandoMoreno Lorente, Luis Enrique2022-01-192022-01-192019-07-01Garrido, 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), 6–17.0885-8985https://hdl.handle.net/10016/33909This 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.12eng© 2019, IEEE.Aerospace roboticsMarsMobile robotsPath planningPlanetary roversTrajectory optimisation (aerospace)research articleRobótica e Informática Industrialhttps://doi.org/10.1109/MAES.2019.2924124open access6717IEEE Aerospace and Electronic Systems Magazine34AR/0000024958