IEEE Robotics & Automation Magazine - March 2015 - 22
The Right Path
Comprehensive Path Planning for Lunar Exploration Rovers
By Masataku Sutoh, Masatsugu Otsuki, Sachiko
Wakabayashi, Takeshi Hoshino, and Tatsuaki Hashimoto
T
his article presents a comprehensive path-planning
method for lunar and planetary exploration rovers.
In this method, two new elements are introduced as
evaluation indices for path planning: 1) determined
by the rover design and 2) derived from a target
environment. These are defined as the rover's internal and
external elements, respectively. In this article, the rover's locomotion mechanism and insolation (i.e., shadow) conditions
were considered to be the two elements that ensure the rover's
safety and energy, and the influences of these elements on path
planning were described. To examine the influence of the locomotion mechanism on path planning, experiments were performed using track and wheel mechanisms, and the motion
behaviors were modeled. The planned paths of the tracked and
Digital Object Identifier 10.1109/MRA.2014.2381359
Date of publication: 13 March 2015
22
*
IEEE ROBOTICS & AUTOMATION MAGAZINE
*
MARCH 2015
wheeled rovers were then simulated based on their motion
behaviors. The influence of the insolation condition was considered through path plan simulations conducted using various
lunar latitudes and times. The simulation results showed that
the internal element can be used as an evaluation index to plan
a safe path that corresponds to the traveling performance of the
rover's locomotion mechanism. The path derived for the
tracked rover was found to be straighter than that derived for
the wheeled rover. The simulation results also showed that path
planning using the external element as an additional index
enhances the power generated by solar panels under various
insolation conditions. This path-planning method was found to
have a large impact on the amount of power generated in the
morning/evening and at high-latitude regions relative to in the
daytime and at low-latitude regions on the moon. These simulation results suggest the effectiveness of the proposed pathplanning method.
1070-9932/15©2015IEEE
Table of Contents for the Digital Edition of IEEE Robotics & Automation Magazine - March 2015
IEEE Robotics & Automation Magazine - March 2015 - Cover1
IEEE Robotics & Automation Magazine - March 2015 - Cover2
IEEE Robotics & Automation Magazine - March 2015 - 1
IEEE Robotics & Automation Magazine - March 2015 - 2
IEEE Robotics & Automation Magazine - March 2015 - 3
IEEE Robotics & Automation Magazine - March 2015 - 4
IEEE Robotics & Automation Magazine - March 2015 - 5
IEEE Robotics & Automation Magazine - March 2015 - 6
IEEE Robotics & Automation Magazine - March 2015 - 7
IEEE Robotics & Automation Magazine - March 2015 - 8
IEEE Robotics & Automation Magazine - March 2015 - 9
IEEE Robotics & Automation Magazine - March 2015 - 10
IEEE Robotics & Automation Magazine - March 2015 - 11
IEEE Robotics & Automation Magazine - March 2015 - 12
IEEE Robotics & Automation Magazine - March 2015 - 13
IEEE Robotics & Automation Magazine - March 2015 - 14
IEEE Robotics & Automation Magazine - March 2015 - 15
IEEE Robotics & Automation Magazine - March 2015 - 16
IEEE Robotics & Automation Magazine - March 2015 - 17
IEEE Robotics & Automation Magazine - March 2015 - 18
IEEE Robotics & Automation Magazine - March 2015 - 19
IEEE Robotics & Automation Magazine - March 2015 - 20
IEEE Robotics & Automation Magazine - March 2015 - 21
IEEE Robotics & Automation Magazine - March 2015 - 22
IEEE Robotics & Automation Magazine - March 2015 - 23
IEEE Robotics & Automation Magazine - March 2015 - 24
IEEE Robotics & Automation Magazine - March 2015 - 25
IEEE Robotics & Automation Magazine - March 2015 - 26
IEEE Robotics & Automation Magazine - March 2015 - 27
IEEE Robotics & Automation Magazine - March 2015 - 28
IEEE Robotics & Automation Magazine - March 2015 - 29
IEEE Robotics & Automation Magazine - March 2015 - 30
IEEE Robotics & Automation Magazine - March 2015 - 31
IEEE Robotics & Automation Magazine - March 2015 - 32
IEEE Robotics & Automation Magazine - March 2015 - 33
IEEE Robotics & Automation Magazine - March 2015 - 34
IEEE Robotics & Automation Magazine - March 2015 - 35
IEEE Robotics & Automation Magazine - March 2015 - 36
IEEE Robotics & Automation Magazine - March 2015 - 37
IEEE Robotics & Automation Magazine - March 2015 - 38
IEEE Robotics & Automation Magazine - March 2015 - 39
IEEE Robotics & Automation Magazine - March 2015 - 40
IEEE Robotics & Automation Magazine - March 2015 - 41
IEEE Robotics & Automation Magazine - March 2015 - 42
IEEE Robotics & Automation Magazine - March 2015 - 43
IEEE Robotics & Automation Magazine - March 2015 - 44
IEEE Robotics & Automation Magazine - March 2015 - 45
IEEE Robotics & Automation Magazine - March 2015 - 46
IEEE Robotics & Automation Magazine - March 2015 - 47
IEEE Robotics & Automation Magazine - March 2015 - 48
IEEE Robotics & Automation Magazine - March 2015 - 49
IEEE Robotics & Automation Magazine - March 2015 - 50
IEEE Robotics & Automation Magazine - March 2015 - 51
IEEE Robotics & Automation Magazine - March 2015 - 52
IEEE Robotics & Automation Magazine - March 2015 - 53
IEEE Robotics & Automation Magazine - March 2015 - 54
IEEE Robotics & Automation Magazine - March 2015 - 55
IEEE Robotics & Automation Magazine - March 2015 - 56
IEEE Robotics & Automation Magazine - March 2015 - 57
IEEE Robotics & Automation Magazine - March 2015 - 58
IEEE Robotics & Automation Magazine - March 2015 - 59
IEEE Robotics & Automation Magazine - March 2015 - 60
IEEE Robotics & Automation Magazine - March 2015 - 61
IEEE Robotics & Automation Magazine - March 2015 - 62
IEEE Robotics & Automation Magazine - March 2015 - 63
IEEE Robotics & Automation Magazine - March 2015 - 64
IEEE Robotics & Automation Magazine - March 2015 - 65
IEEE Robotics & Automation Magazine - March 2015 - 66
IEEE Robotics & Automation Magazine - March 2015 - 67
IEEE Robotics & Automation Magazine - March 2015 - 68
IEEE Robotics & Automation Magazine - March 2015 - 69
IEEE Robotics & Automation Magazine - March 2015 - 70
IEEE Robotics & Automation Magazine - March 2015 - 71
IEEE Robotics & Automation Magazine - March 2015 - 72
IEEE Robotics & Automation Magazine - March 2015 - 73
IEEE Robotics & Automation Magazine - March 2015 - 74
IEEE Robotics & Automation Magazine - March 2015 - 75
IEEE Robotics & Automation Magazine - March 2015 - 76
IEEE Robotics & Automation Magazine - March 2015 - 77
IEEE Robotics & Automation Magazine - March 2015 - 78
IEEE Robotics & Automation Magazine - March 2015 - 79
IEEE Robotics & Automation Magazine - March 2015 - 80
IEEE Robotics & Automation Magazine - March 2015 - 81
IEEE Robotics & Automation Magazine - March 2015 - 82
IEEE Robotics & Automation Magazine - March 2015 - 83
IEEE Robotics & Automation Magazine - March 2015 - 84
IEEE Robotics & Automation Magazine - March 2015 - 85
IEEE Robotics & Automation Magazine - March 2015 - 86
IEEE Robotics & Automation Magazine - March 2015 - 87
IEEE Robotics & Automation Magazine - March 2015 - 88
IEEE Robotics & Automation Magazine - March 2015 - 89
IEEE Robotics & Automation Magazine - March 2015 - 90
IEEE Robotics & Automation Magazine - March 2015 - 91
IEEE Robotics & Automation Magazine - March 2015 - 92
IEEE Robotics & Automation Magazine - March 2015 - 93
IEEE Robotics & Automation Magazine - March 2015 - 94
IEEE Robotics & Automation Magazine - March 2015 - 95
IEEE Robotics & Automation Magazine - March 2015 - 96
IEEE Robotics & Automation Magazine - March 2015 - 97
IEEE Robotics & Automation Magazine - March 2015 - 98
IEEE Robotics & Automation Magazine - March 2015 - 99
IEEE Robotics & Automation Magazine - March 2015 - 100
IEEE Robotics & Automation Magazine - March 2015 - 101
IEEE Robotics & Automation Magazine - March 2015 - 102
IEEE Robotics & Automation Magazine - March 2015 - 103
IEEE Robotics & Automation Magazine - March 2015 - 104
IEEE Robotics & Automation Magazine - March 2015 - 105
IEEE Robotics & Automation Magazine - March 2015 - 106
IEEE Robotics & Automation Magazine - March 2015 - 107
IEEE Robotics & Automation Magazine - March 2015 - 108
IEEE Robotics & Automation Magazine - March 2015 - 109
IEEE Robotics & Automation Magazine - March 2015 - 110
IEEE Robotics & Automation Magazine - March 2015 - 111
IEEE Robotics & Automation Magazine - March 2015 - 112
IEEE Robotics & Automation Magazine - March 2015 - 113
IEEE Robotics & Automation Magazine - March 2015 - 114
IEEE Robotics & Automation Magazine - March 2015 - 115
IEEE Robotics & Automation Magazine - March 2015 - 116
IEEE Robotics & Automation Magazine - March 2015 - 117
IEEE Robotics & Automation Magazine - March 2015 - 118
IEEE Robotics & Automation Magazine - March 2015 - 119
IEEE Robotics & Automation Magazine - March 2015 - 120
IEEE Robotics & Automation Magazine - March 2015 - 121
IEEE Robotics & Automation Magazine - March 2015 - 122
IEEE Robotics & Automation Magazine - March 2015 - 123
IEEE Robotics & Automation Magazine - March 2015 - 124
IEEE Robotics & Automation Magazine - March 2015 - 125
IEEE Robotics & Automation Magazine - March 2015 - 126
IEEE Robotics & Automation Magazine - March 2015 - 127
IEEE Robotics & Automation Magazine - March 2015 - 128
IEEE Robotics & Automation Magazine - March 2015 - 129
IEEE Robotics & Automation Magazine - March 2015 - 130
IEEE Robotics & Automation Magazine - March 2015 - 131
IEEE Robotics & Automation Magazine - March 2015 - 132
IEEE Robotics & Automation Magazine - March 2015 - 133
IEEE Robotics & Automation Magazine - March 2015 - 134
IEEE Robotics & Automation Magazine - March 2015 - 135
IEEE Robotics & Automation Magazine - March 2015 - 136
IEEE Robotics & Automation Magazine - March 2015 - 137
IEEE Robotics & Automation Magazine - March 2015 - 138
IEEE Robotics & Automation Magazine - March 2015 - 139
IEEE Robotics & Automation Magazine - March 2015 - 140
IEEE Robotics & Automation Magazine - March 2015 - 141
IEEE Robotics & Automation Magazine - March 2015 - 142
IEEE Robotics & Automation Magazine - March 2015 - 143
IEEE Robotics & Automation Magazine - March 2015 - 144
IEEE Robotics & Automation Magazine - March 2015 - 145
IEEE Robotics & Automation Magazine - March 2015 - 146
IEEE Robotics & Automation Magazine - March 2015 - 147
IEEE Robotics & Automation Magazine - March 2015 - 148
IEEE Robotics & Automation Magazine - March 2015 - 149
IEEE Robotics & Automation Magazine - March 2015 - 150
IEEE Robotics & Automation Magazine - March 2015 - 151
IEEE Robotics & Automation Magazine - March 2015 - 152
IEEE Robotics & Automation Magazine - March 2015 - Cover3
IEEE Robotics & Automation Magazine - March 2015 - Cover4
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2023
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2023
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2023
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2023
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2022
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2022
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2022
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2022
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2021
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2021
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2021
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2021
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2020
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2020
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2020
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2020
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2019
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2019
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2019
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2019
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2018
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2018
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2018
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2018
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2017
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2017
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2017
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2017
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2016
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2016
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2016
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2016
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2015
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2015
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2015
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2015
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2014
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2014
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2014
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2014
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2013
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2013
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2013
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2013
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2012
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2012
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2012
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2012
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2011
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2011
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2011
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2011
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2010
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2010
https://www.nxtbookmedia.com