Research/ PLANETARY ROBOTICS
Navigation Approach For Lunar Rover Based On Slip Prediction
Lanfeng Zhou, Jian Jiang
Surface Mobility & TerramechanicsOpenAlex topic: Soil Mechanics and Vehicle Dynamics · Motion Planning & NavigationOpenAlex topic: Robotic Path Planning Algorithms · Perception & State EstimationOpenAlex topic: Robotics and Sensor-Based Localization
Abstract—This paper presented a method for navigation of lunar rover. This method used the real lunar data to model the virtual terrain. In addition, this method not onle considers uncertainty of sensor data, and does integrate directional slip prediction into the path planning algorithm resolving the issue of emerging higher-level behaviors such as planning a path with switch-backs up a slope. Simulation results show the feasibility and effectiveness of the algorithm in path planning for lunar rover. Index Terms—slip prediction, lunar rover; navigation I.