Energy-aware trajectory planning for planetary rovers. (17th November 2021)

• Record Type: Journal Article
• Authors: Sakayori, G.; Ishigami, G.
• Is Part Of: Advanced robotics. Volume 35:Number 21/22(2021)
• Page Start: 1302
• Page End: 1316
• Publication Date: 2021-11-17
• Subjects: Trajectory planning -- Mobile robot -- Space robotics -- Terramechanics -- Energy-aware; Robotics -- Periodicals; Robotics -- Japan -- Periodicals; Robotics; Japan; Periodicals; 629.89205
• DOI: 10.1080/01691864.2021.1959396
• Languages: English
• ISSNs: 0169-1864

Abstract

Abstract : Planetary rovers are becoming indispensable for exploration activities and science missions. The rover used in such mission is often limited in its operation time owing to power and computational resources of the rover. In this paper, a trajectory planning method for a planetary rover is proposed that considers vehicle dynamics, and energy management of the rover. The vehicle dynamics is approximated from a dynamic simulation of the rover, which can estimate the power consumption in accordance with terrain traversability of the rover. The power generation of the solar array panel mounted on the rover is also taken into account. The simulation study confirmed the usefulness of the proposed method, especially in scenarios where slopes could be observed, and one result indicated that the energy margin could be improved by 4.1 kJ, 13.9 % at maximum. GRAPHICAL ABSTRACT: UF0001