Study on path planning for exploration rover considering navigation easiness


Autonomous rovers are used for lunar and planetaryexploration. It is necessary that the rovers localize theirpositions, determine their routes and autonomously, andfollow the routes. In the past, localization and path planningare studied separately. There are few researches which takenavigation easiness into account in the path planning. Skylinealgorithm is one of methods for localizing with panoramicimages. In this method, extracted real skyline is comparedwith known digital elevation model to decide position. Below figures show the comparison between the routes planed by the conventional method and that of the proposed method. Simulation of skyline navigation was executed in the case of each path and error of rover trajectory was compared.