2A2-M05 Behavior Planning Scheme for Exploration Robot based on Environment Understanding
Riho Ejiri, Tetsuo Yoshimitsu, Takashi Kubota, Ichiro Nakatani · The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) · 2007
Lunar or planetary exploration robots (rovers) move to long-distance destination under the limited conditions such as unknown environment and time delay. Rovers are required to move autonomously and efficiently. Rovers need the ability to recognize the environment widely and to plan route and sensing depending on the situation. This paper proposes a behavior planning scheme for rovers based on environment understanding. The proposed method includes route planning and sensing planning.