Description
One of the main challenges in planetary robotics is to traverse the shortest path through a set of waypoints. The shortest distance between any two waypoints is a direct linear traversal. Often times, there are physical restrictions that prevent a rover form traversing straight to a waypoint. Thus, knowledge of the terrain is needed prior to traversal. The Digital Terrain Model (DTM) provides information about the terrain along with waypoints for the rover to traverse. However, traversing a set of waypoints linearly is burdensome, as the rovers would constantly need to modify their orientation as they successively approach waypoints. Although there are various solutions to this problem, this research paper proposes the smooth traversability of the rover using splines as a quick and easy implementation to traverse a set of waypoints. In addition, a rover was used to compare the smoothness of the linear traversal along with the spline interpolations. The data collected illustrated that spline traversals had a less rate of change in the velocity over time, indicating that the rover performed smoother than with linear paths.
Details
Title
- Smooth path planning using splines for unmanned planetary vehicles
Contributors
- Kamasamudram, Anurag (Author)
- Saripalli, Srikanth (Thesis advisor)
- Fainekos, Georgios (Thesis advisor)
- Turaga, Pavan (Committee member)
- Arizona State University (Publisher)
Date Created
The date the item was original created (prior to any relationship with the ASU Digital Repositories.)
2013
Subjects
Resource Type
Collections this item is in
Note
- thesisPartial requirement for: M.S., Arizona State University, 2013
- bibliographyIncludes bibliographical references (p. 28-29)
- Field of study: Computer science
Citation and reuse
Statement of Responsibility
by Anurag Kamasamudram