Study on path planning with considering difficulty of navigation for exploration rover
Shuto MAENAKA, Tatsuaki Hashimoto · The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) · 2019
Recently, autonomous rovers are used for lunar and planetary exploration. It is necessary that the rovers determine their routes and localize their positions autonomously. In the environment of celestial surface, visual images taken by optical cameras are used for localization. Skyline algorithm is one of methods for localizing with panoramic images. In this method, extracted real skyline is compared with known digital elevation model to decide position. To make navigation and localization with skyline algorithm easier, this paper proposed method of path planning with evaluation index on differences of skyline, and calculated rover paths with previous path planning method and proposed method. Furthermore, simulation of skyline navigation was executed in the case of each paths and error of rover trajectory was compared.