Lunar Rover Navigation--Path Planning

Lunar Rover Navigation 1996
Obstacle Avoidance Planning

The Rover looks ahead


  • Analyze a discrete set of constant curvature steering angles
  • Geometrically calculate intersections between arc and traversability patches
  • Integrate traversability measures, accounting for angular uncertainty in motion
  • Threshold and linearly combine measures
  • Traversability measures turn into a "vote" for that steering angle.
  • The Arbiter takes these votes into consideration when planning where to go.

Arbiter screen shot

Lunar Rover Navigation 1996 - (last updated in Nov. 1996)
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