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  4. Smooth path planning using splines for unmanned planetary vehicles
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Smooth path planning using splines for unmanned planetary vehicles

Full metadata

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.

Date Created
2013
Contributors
  • Kamasamudram, Anurag (Author)
  • Saripalli, Srikanth (Thesis advisor)
  • Fainekos, Georgios (Thesis advisor)
  • Turaga, Pavan (Committee member)
  • Arizona State University (Publisher)
Topical Subject
  • Computer Science
  • robotics
  • DTM
  • Rover
  • Splines
  • Vehicles, Remotely piloted
  • Digital elevation models
Resource Type
Text
Genre
Masters Thesis
Academic theses
Extent
ii, 29 p. : col. ill
Language
eng
Copyright Statement
In Copyright
Reuse Permissions
All Rights Reserved
Primary Member of
ASU Electronic Theses and Dissertations
Peer-reviewed
No
Open Access
No
Handle
https://hdl.handle.net/2286/R.I.20864
Statement of Responsibility
by Anurag Kamasamudram
Description Source
Viewed on Mar. 18, 2013
Level of coding
full
Note
Partial requirement for: M.S., Arizona State University, 2013
Note type
thesis
Includes bibliographical references (p. 28-29)
Note type
bibliography
Field of study: Computer science
System Created
  • 2014-01-31 11:33:05
System Modified
  • 2021-08-30 01:37:29
  •     
  • 1 year 6 months ago
Additional Formats
  • OAI Dublin Core
  • MODS XML

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