3D Path planning using a fuzzy logic navigational map for Planetary Surface Rovers

Abstract

This work proposes an innovative app
\nnavigation path-planning problem
\nexploration rovers by including terrain characteristics.
\nThe objective is to enhance the typical 2D arithmetical
\ncost function by adding 3D information computed from
\nthe laser-scanned terrain such as terrain height, slopes,
\nshadows, orientation and terrain roughness.
\nThis paper describes the algorithm developed by UPM
\nand GMV and the tests made at the GMV outdoor test
\nfacilities using the Moon-Hound rover. This rover is a
\n50 Kg rover including a Sick laser mounted on a
\npan&tilt unit for generation of 3D Digital Elevation
\nModels (DEM’s). Experimental results have shown the
\neffectiveness of the proposed approach.