Field Experiments in Rover Navigation via Model-Based Trajectory Generation and Nonholonomic Motion Planning in State Lattices

Mikhail Pivtoraiko, Thomas Howard, Issa Nesnas, and Alonzo Kelly
Proceedings of the 9th International Symposium on Artificial Intelligence, Robotics, and Automation in Space (i-SAIRAS '08), February, 2008.


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Abstract
This paper presents field experiments of two novel approaches to local and regional motion planning applied to planetary rover navigation. The first approach solves the two-point boundary value problem using a model-based trajectory optimization technique that inverts an arbitrary dynamics model to generate a feasible motion plan. The second approach utilizes this result to build a special discretization of the state space that allows employing standard search algorithms for solving the motion planning problem. These approaches enable robot autonomy by considering the robot? dynamics, efficiently searching a finely discretized state space, and allowing the reuse of previous planning computation to improve runtime. We present results from the experiments on the Rocky 8 and FIDO planetary rover prototypes in the NASA/JPL Mars Yard.

Keywords
motion planning, trajectory generation, space robotics, planetary robotics,

Notes
Associated Center(s) / Consortia: National Robotics Engineering Center
Associated Project(s): Very Rough Terrain Nonholonomic Trajectory Generation and Motion Planning for Rovers
Number of pages: 8

Text Reference
Mikhail Pivtoraiko, Thomas Howard, Issa Nesnas, and Alonzo Kelly, "Field Experiments in Rover Navigation via Model-Based Trajectory Generation and Nonholonomic Motion Planning in State Lattices," Proceedings of the 9th International Symposium on Artificial Intelligence, Robotics, and Automation in Space (i-SAIRAS '08), February, 2008.

BibTeX Reference
@inproceedings{Pivtoraiko_2008_6016,
   author = "Mikhail Pivtoraiko and Thomas Howard and Issa Nesnas and Alonzo Kelly",
   title = "Field Experiments in Rover Navigation via Model-Based Trajectory Generation and Nonholonomic Motion Planning in State Lattices",
   booktitle = "Proceedings of the 9th International Symposium on Artificial Intelligence, Robotics, and Automation in Space (i-SAIRAS '08)",
   month = "February",
   year = "2008",
}