Item request has been placed! ×
Item request cannot be made. ×
loading  Processing Request

Hopping path planning in uncertain environments for planetary explorations

Item request has been placed! ×
Item request cannot be made. ×
loading   Processing Request
  • Additional Information
    • Publication Information:
      SpringerOpen, 2022.
    • Publication Date:
      2022
    • Collection:
      LCC:Technology
      LCC:Mechanical engineering and machinery
      LCC:Machine design and drawing
      LCC:Technology (General)
      LCC:Industrial engineering. Management engineering
      LCC:Automation
      LCC:Information technology
    • Abstract:
      Abstract Hopping robots, called hoppers, are expected to move on rough terrains, such as disaster areas or planetary environments. The uncertainties of the hopping locomotion in such environments are high, making path planning algorithms essential to traverse these uncertain environments. Planetary surface exploration requires to generate a path which minimises the risk of failure and maximises the information around the hopper. This paper newly proposes a hopping path planning algorithm for rough terrains locomotion. The proposed algorithm takes into account the motion uncertainties using Markov decision processes (MDPs), and generates paths corresponding to the terrain conditions, or the mission requirements, or both. The simulation results show the effectiveness of the proposed route planning scheme in three cases as the rough terrain, sandy and hard ground environment, and non-smooth borders.
    • File Description:
      electronic resource
    • ISSN:
      2197-4225
    • Relation:
      https://doaj.org/toc/2197-4225
    • Accession Number:
      10.1186/s40648-022-00219-7
    • Accession Number:
      edsdoj.6278878d95f450fab4cfad54809c6ac