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Smooth path planning using splines for unmanned planetary vehicles

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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…

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.
ContributorsKamasamudram, Anurag (Author) / Saripalli, Srikanth (Thesis advisor) / Fainekos, Georgios (Thesis advisor) / Turaga, Pavan (Committee member) / Arizona State University (Publisher)
Created2013
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Continuous spatio temporal tracking of mobile targets

Description
There has been extensive study of the target tracking problems in the recent years. Very little work has been done in the problem of continuous monitoring of all the mobile targets using the fewest number of mobile trackers, when the trajectories of all the targets are known in advance. Almost…

There has been extensive study of the target tracking problems in the recent years. Very little work has been done in the problem of continuous monitoring of all the mobile targets using the fewest number of mobile trackers, when the trajectories of all the targets are known in advance. Almost all the existing research discretized time (and/or space), or assume infinite tracker velocity. In this thesis, I consider the problem of covering (tracking) target nodes using a network of Unmanned Airborne Vehicles (UAV's) for the entire period of observation by adding the constraint of fixed velocity on the trackers and observing the targets in continuous time and space. I also show that the problem is NP-complete and provide algorithms for handling cases when targets are static and dynamic.
ContributorsVachhani, Harsh (Author) / Sen, Arunabha (Thesis advisor) / Saripalli, Srikanth (Committee member) / Shirazipour, Shahrzad (Committee member) / Arizona State University (Publisher)
Created2014