Vision-Based Behavior Planning for Lunar or Planetary Exploration Rover on Flat Surface
Riho Ejiri*, Takashi Kubota**, and Ichiro Nakatani**
*The University of Tokyo
3-1-1 Yoshinodai, Chuo-ku, Sagamihara 252-5210, Japan
**Institute of Space and Astronautical Science, Japan Aerospace Exploration Agency (JAXA)
3-1-1 Yoshinodai, Chuo-ku, Sagamihara 252-5210, Japan
Lunar or planetary exploration rovers are expected to have the ability to move across an area as wide as possible in an unknown environment during a limited mission period. Hence, they need an efficient navigation method. Most of the surface of the moon or planets consists of flat ground, sand, and scattered rocks. In a simple flat sandy terrain with some rocks, rough route planning is sufficient for a lunar or planetary rover to avoid obstacles and reach an assigned point. This paper proposes an efficient vision-based planning scheme for exploration rovers on a flat surface with scattered obstacles. In the proposed scheme, dangerous areas are robustly extracted by processing image data, and the degree of danger is defined. A rough routing plan and sensing plan are simultaneously constructed based on the dangerous-area extraction results. The effectiveness of the proposed scheme is discussed based on the results of some simulations and simple experiments.
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