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Motion planning on steep terrain for the tethered axel rover

Abad-Manterola, Pablo and Nesnas, Issa A. D. and Burdick, Joel W. (2011) Motion planning on steep terrain for the tethered axel rover. In: 2011 IEEE International Conference on Robotics and Automation. IEEE , Piscataway, NJ, pp. 4188-4195. ISBN 978-1-61284-386-5. https://resolver.caltech.edu/CaltechAUTHORS:20190627-095027669

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Abstract

This paper considers the motion planning problem that arises when a tethered robot descends and ascends steep obstacle-strewn terrain. This work is motivated by the Axel tethered robotic rover designed to provide access to extreme extra-planetary terrains. Motion planning for this type of rover is very different from traditional planning problems because the tether geometry under high loading must be considered during the planning process. Furthermore, only round-trip paths that avoid tether entanglement are viable solutions to the problem. We present an algorithm for tethered robot motion planning on steep terrain that reduces the likelihood that the tether will become entangled during descent and ascent of steep slopes. The algorithm builds upon the notion of the shortest homotopic tether path and its associated sleeve. We provide a simple example for purposes of illustration.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/ICRA.2011.5980238DOIArticle
Additional Information:© 2011 IEEE. The work of this collaboration between Caltech and the Jet Propulsion Laboratory (JPL) was performed at JPL under contract to the National Aeronautics and Space Administration. The authors sincerely appreciate the sponsorship of the Exploration Systems Mission Directorate and Solar Systems Exploration program: Dr. C. Moore, Dr. S. Khanna, Dr. T.Y. Yan, Dr. J. Cutts, and Dr. K. Reh. We also appreciate the support of Dr. S. Hayati, Dr. R. Volpe and Dr. G. Udomkesmalee of JPL. We would like to thank Dr. J.M. Cameron and Dr. H.D. Nayar of the Jet Propulsion Laboratory for providing the altimeter data from the Shackleton Crater.
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NASA/JPL/CaltechUNSPECIFIED
Record Number:CaltechAUTHORS:20190627-095027669
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20190627-095027669
Official Citation:P. Abad-Manterola, I. A. D. Nesnas and J. W. Burdick, "Motion planning on steep terrain for the tethered axel rover," 2011 IEEE International Conference on Robotics and Automation, Shanghai, 2011, pp. 4188-4195. doi: 10.1109/ICRA.2011.5980238
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:96776
Collection:CaltechAUTHORS
Deposited By: Tony Diaz
Deposited On:27 Jun 2019 18:49
Last Modified:03 Oct 2019 21:25

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