Global Path Planning for Mars Rover Exploration

Paul Tompkins, Anthony (Tony) Stentz, and David Wettergreen
Proceedings of the 2004 IEEE Aerospace Conference, March, 2004.


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Abstract
TEMPEST is a planner for long-range planetary navigation that bridges the gap between path planning and classical planning and scheduling. In addition to planning routes, our approach yields the timing and placement of actions to conserve and restore expendable resources and that abide by operational constraints. TEMPEST calls upon the Incremental Search Engine (ISE) to enable heuristic path planning and efficient re-planning under global constraints, over a four dimensional state space. We describe our approach, then demonstrate how the planner operates in a simulated Mars science traverse. Following a brief summary of TEMPEST results from a recent rover field experiment, we evaluate our research progress and describe our current and future work.

Keywords
path planning, heuristic search, Incremental Search Engine, TEMPEST, temporal planning, resource management

Notes
Sponsor: NASA
Number of pages: 15

Text Reference
Paul Tompkins, Anthony (Tony) Stentz, and David Wettergreen, "Global Path Planning for Mars Rover Exploration," Proceedings of the 2004 IEEE Aerospace Conference, March, 2004.

BibTeX Reference
@inproceedings{Tompkins_2004_4561,
   author = "Paul Tompkins and Anthony (Tony) Stentz and David Wettergreen",
   title = "Global Path Planning for Mars Rover Exploration",
   booktitle = "Proceedings of the 2004 IEEE Aerospace Conference",
   month = "March",
   year = "2004",
}