Sancho-Pradel, D.L. and Saaj, C. (2015) Assessment of Artificial Potential Field methods for navigation of planetary rovers. In: 2009 European Control Conference (ECC), 23rd - 26th August 2009, Budapest, Hungary.
Full content URL: https://doi.org/10.23919/ECC.2009.7074869
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| Item Type: | Conference or Workshop contribution (Paper) |
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| Item Status: | Live Archive |
Abstract
Abstract:
The lack of research into Artificial Potential Field (APF) applications for planetary exploration drove the authors to put forward the following question: Can APF methods be used for autonomous navigation (path planning and control) of a surface robot in realistic planetary exploration scenarios? In order to answer that question, this paper presents a comprehensive review of different APF methods under a planetary exploration point of view. Finally, realistic scenarios where APF methods could outperform other navigation techniques are proposed, the most suitable approaches for these scenarios analysed, and some initial results provided.
| Additional Information: | cited By 2 |
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| Keywords: | Navigation, Robots, Finite element analysis, Vectors, Collision avoidance, Electrostatics, Frequency division multiplexing |
| Divisions: | College of Science > School of Engineering |
| ID Code: | 37400 |
| Deposited On: | 07 Oct 2019 09:11 |
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